Manipulation of Large Objects by Swarms of Autonomous Marine Vehicles: Part I - Rotation
نویسندگان
چکیده
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.
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