Cooperative caging and transport using autonomous aquatic surface vehicles

Arrichiello, Filippo; Heidarsson, Hordur; Chiaverini, Stefano; Sukhatme, Gaurav S.

doi:10.1007/s11370-011-0104-9

Cited by 21 publications

(6 citation statements)

References 38 publications

(44 reference statements)

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“…In [108]- [110], a caging system consisting of two vessels is proposed for oil skimming and cleanings. In [111], two vessels are connected to each other with a flexible floating rope. They coordinate with each other to capture a floating target from a given location and transport it to a designated position.…”

Section: Cooperative Manipulationmentioning

confidence: 99%

Survey on Cooperative Control for Waterborne Transport

Chen

Negenborn

Huang

et al. 2021

IEEE Intell. Transport. Syst. Mag.

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This article provides a comprehensive overview on cooperative control methods for waterborne transport. We first proposed a hierarchical architecture of cooperation in the waterborne transport systems. Three layers of cooperation are identified according to the range of communication and cooperation, i.e., the individual layer, the local layer, and the network layer. The individual layer is the basis layer where a controller controls the dynamics of an individual vessel. The local layer considers the vessel-to-vessel (V2V) and vessel-to-infrastructure (V2I) interactions. The network layer considers not only V2V and V2I interactions but also the interdependence of the interconnected infrastructures, i.e., infrastructure-toinfrastructure interactions. Existing research for cooperation at each layer is reviewed, and the main research gaps are provided.

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Section: Cooperative Manipulationmentioning

confidence: 99%

Survey on Cooperative Control for Waterborne Transport

Chen

Negenborn

Huang

et al. 2021

IEEE Intell. Transport. Syst. Mag.

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“…Arrichiello et al [118,119] study the cooperative control of two USVs performing a caging and transport mission on the water surface. A flexible floating rope connects the two vehicles with the purpose of capturing the floating oil from a given location and transporting it to a designated position.…”

Section: Use Of Usvs In Environmental Disasters With Contaminantsmentioning

confidence: 99%

A Survey on Unmanned Surface Vehicles for Disaster Robotics: Main Challenges and Directions

Jorge

Granada

Maidana

et al. 2019

Sensors

132

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Disaster robotics has become a research area in its own right, with several reported cases of successful robot deployment in actual disaster scenarios. Most of these disaster deployments use aerial, ground, or underwater robotic platforms. However, the research involving autonomous boats or Unmanned Surface Vehicles (USVs) for Disaster Management (DM) is currently spread across several publications, with varying degrees of depth, and focusing on more than one unmanned vehicle—usually under the umbrella of Unmanned Marine Vessels (UMV). Therefore, the current importance of USVs for the DM process in its different phases is not clear. This paper presents the first comprehensive survey about the applications and roles of USVs for DM, as far as we know. This work demonstrates that there are few current deployments in disaster scenarios, with most of the research in the area focusing on the technological aspects of USV hardware and software, such as Guidance Navigation and Control, and not focusing on their actual importance for DM. Finally, to guide future research, this paper also summarizes our own contributions, the lessons learned, guidelines, and research gaps.

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“…One future role for large teams of ASC is asset guarding, a mission emphasizing timely and efficient task allocation [12], [13]. Other work towards caging manipulation on the water [14] addresses the close quarters maneuvering inherent to self-assembly activities. Finally, research in highly overactuated autonomous surface vessels anticipates future applications in autonomous tugboats [15], or potentially the cooperative manipulation of linked structures such as ours.…”

Section: Related Workmentioning

confidence: 99%

Automated Self-Assembly of Large Maritime Structures by a Team of Robotic Boats

Paulos¹,

Eckenstein²,

Tosun³

et al. 2015

IEEE Trans. Automat. Sci. Eng.

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We present the methodology, algorithms, system design, and experiments addressing the self-assembly of large teams of autonomous robotic boats into floating platforms. Identical self-propelled robotic boats autonomously dock together and form connected structures with controllable variable stiffness. These structures can self-reconfigure into arbitrary shapes limited only by the number of rectangular elements assembled in brick-like patterns. An complexity algorithm automatically generates assembly plans which maximize opportunities for parallelism while constructing operator-specified target configurations with components. The system further features an complexity algorithm for the concurrent assignment and planning of trajectories from free robots to the growing structure. Such peer-to-peer assembly among modular robots compares favorably to a single active element assembling passive components in terms of both construction rate and potential robustness through redundancy. We describe hardware and software techniques to facilitate reliable docking of elements in the presence of estimation and actuation errors, and we consider how these local variable stiffness connections may be used to control the structural properties of the larger assembly. Assembly experiments validate these ideas in a fleet of 0.5 m long modular robotic boats with onboard thrusters, active connectors, and embedded computers.Note to Practitioners-This work addresses the deployment of large scale floating structures to accelerate humanitarian missions or disaster relief by assembling together many self-propelled ISO shipping containers equipped with actuators and sensors. Thousands of modules would be needed to form temporary bridges, harbors, or air strips in a full-scale deployment; we give efficient solutions to the ensuing large-scale assembly planning and multiboat routing problems. This work will be of interest to those considering assembly planning with many identical pieces. Our 1:12 scale experiments serve as a proof of concept system and a case study in the design of practical self-assembling components. The docking and maneuverability design elements will be of interest to those

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Cooperative caging and transport using autonomous aquatic surface vehicles

Cited by 21 publications

References 38 publications

Survey on Cooperative Control for Waterborne Transport

Survey on Cooperative Control for Waterborne Transport

A Survey on Unmanned Surface Vehicles for Disaster Robotics: Main Challenges and Directions

Automated Self-Assembly of Large Maritime Structures by a Team of Robotic Boats

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