Cooperative caging and transport using autonomous aquatic surface vehicles

Abstract

We present a study on the cooperative control of two autonomous surface vehicles performing a caging and transport mission on the water surface. The two vehicles, connected to each other by means of a floating flexible rope, are required to capture a floating target from a given location, and transport it to a designated position. We focus on the coordination and control strategy to meet these requirements, andon its implementationon twounder-actuatedvehicles. We describe a multi-layered control architecture which achieves the goal, followed by simulation studies and field experiments with the two vehicles caging and transporting a floating target on the surface of a lake.

DOI: 10.1007/s11370-011-0104-9

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Cite this paper

@article{Arrichiello2012CooperativeCA, title={Cooperative caging and transport using autonomous aquatic surface vehicles}, author={Filippo Arrichiello and Hordur Kristinn Heidarsson and Stefano Chiaverini and Gaurav S. Sukhatme}, journal={Intelligent Service Robotics}, year={2012}, volume={5}, pages={73-87} }