Manipulation of Large Objects by Swarms of Autonomous Marine Vehicles. Part 1 - Rotation

Abstract

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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Document Details

Document Type
Technical Report
Publication Date
Mar 07, 2006
Accession Number
ADA575182

Entities

People

  • Jack Nicholson
  • Joel Esposito
  • M. Feemster

Tags

Communities of Interest

  • Ground and Sea Platforms
  • Weapons Technologies

DTIC Thesaurus Topics

  • Actuators
  • Aircrafts
  • Autonomous Vehicles
  • Azimuth Thrusters
  • Collision Avoidance
  • Control
  • Control Systems
  • Coordinate Systems
  • Dynamics
  • Engineering
  • Rotation
  • Systems Engineering
  • Thrust
  • Thrusters
  • United States Naval Academy
  • Unmanned Aerial Vehicles
  • Vehicles

Readers

  • Control Systems Engineering.
  • Naval Architecture and Marine Engineering.
  • Parallel and Distributed Computing.