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Swarn Manipulation Of An Unactuated Surface Vessel

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3 Author(s)
Smith, E.T. ; WSE Dept., US Naval Acad., Annapolis, MD ; Feemster, M.G. ; Esposito, J.M.

This paper investigates the utilization of a swarm of autonomous tug boats to manipulate an unactuated vessel (i.e., barge or disabled vessel). Specifically the objective is to design a control strategy for each craft such that the combined effort of the swarm manipulates the unactuated vessel into a desired position and orientation under the constraints that the tugs can only exert a pushing force. The control scheme is verified through simulation. In addition, a preliminary control experiment was conducted on a custom built experimental teststand at the U.S. Naval Academy.

Published in:

System Theory, 2007. SSST '07. Thirty-Ninth Southeastern Symposium on

Date of Conference:

4-6 March 2007