Manipulation of Large Objects by Swarms of Autonomous Marine Vehicles: Part I - Rotation
Matthew G. Feemster, Joel M. Esposito, Jack Nicholson · 2006
Abstract—In this paper, the control problem of utilizing a team of autonomous marine vehicles (i.e., tug boats) cooperating to manipulate a larger floating object (i.e., disabled ship) while operating in a decentralized architecture is considered. After decomposing the problem into several phases, a control design targeting the issue of inducing controlled rotations for the manipulated object is presented. I.