Title :
Manipulation of Large Object by Swarms of Autonomous Marine Vehicles, Part I: Rotational Motions
Author :
Feemster, M. ; Esposito, J. ; Nicholson, J.
Author_Institution :
Dept. of Weapons & Syst. Eng., US Naval Acad., Annapolis, MD
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
Keywords :
control system synthesis; decentralised control; marine vehicles; mobile robots; multi-robot systems; position control; robust control; autonomous marine vehicles; control design; decentralized architecture; floating object; rotation control; Control design; Decision making; Kinematics; Marine vehicles; Mobile robots; Motion control; Reconnaissance; Unmanned aerial vehicles; Vehicle dynamics; Weapons;
Conference_Titel :
System Theory, 2006. SSST '06. Proceeding of the Thirty-Eighth Southeastern Symposium on
Conference_Location :
Cookeville, TN
Print_ISBN :
0-7803-9457-7
DOI :
10.1109/SSST.2006.1619073
