Sciweavers

Share
ICRA
2008
IEEE

Cooperative manipulation on the water using a swarm of autonomous tugboats

8 years 8 months ago
Cooperative manipulation on the water using a swarm of autonomous tugboats
— In this paper we present a strategy that allows a swarm of autonomous tugboats to cooperatively move a large object on the water. The two main challenges are: (1) the actuators are unidirectional and experience saturation; (2) the hydrodynamics of the system are difficult to characterize. The primary theoretical contribution of the paper addresses the first challenge. We present a tracking controller and force allocation strategy that, despite actuator limitations, result in asymptotically convergent tracking for a certain class of reference trajectories. The primary practical contribution is
Joel M. Esposito, Matthew Feemster, Erik Smith
Added 30 May 2010
Updated 30 May 2010
Type Conference
Year 2008
Where ICRA
Authors Joel M. Esposito, Matthew Feemster, Erik Smith
Comments (0)
books