Cluster space control of a 2-robot system as applied to Autonomous Surface Vessels

Multi-robot systems offer many advantages over a single robot system including redundancy, coverage and flexibility. One of the key technical considerations in fielding multi-robot systems for real-world applications is the coordination of the individual units. The cluster space control technique promotes simplified specification and monitoring of the motion of mobile multi-robot systems. Previous work has established this approach and has experimentally verified its use for land based systems consisting of 2-4 robots and with varying implementations ranging from automated trajectory control to human-in-the-loop piloting. In this paper, we describe a multi-boat system capable of autonomous navigation using the cluster space control technique. The technical system includes the design and fabrication of a new low cost autonomous surface vessel (ASV). It also includes a centralized controller, currently implemented via a shore-based computer, that wireless receives ASV data and relays drive commands. Using the cluster space control approach, these drive commands allow a pilot to remotely drive a 2-boat cluster or two boats to automatically maintain formation with a third boat. The resulting multi-ASV clusters can be arbitrarily translated, rotated, and resized depending upon the needs of a specific application. Experimental results demonstrating these capabilities will be provided, and plans for future work will be discussed.