NDLI: Cooperative caging using autonomous aquatic surface vehicles

Content Provider	IEEE Xplore Digital Library
Author	Arrichiello, F. Heidarsson, H. Chiaverini, S. Sukhatme, G.S.
Copyright Year	2010
Description	Author affiliation: Robotic Embedded Systems Laboratory, University of Southern California, Los Angeles, 90089, USA (Heidarsson, H.; Sukhatme, G.S.) \|\| Dipartimento di Automazione, Elettromagnetismo, Ingegneria dell'Informazione e Matematica Industriale, Università degli Studi di Cassino, Via G. Di Biasio 43, 03043, (FR), Italy (Arrichiello, F.; Chiaverini, S.)
Abstract	We present a study on the use of cooperative robots to execute a caging mission on the water's surface. In particular, we consider the problem of using two robotic boats (under-actuated autonomous surface vessels) connected with a floating rope, to ‘capture’ a floating object from a known location on the water's surface and 'shepherd' it to a designated position. This paper focuses on the cooperative control strategy of the two vessels. Each vessel's behavior is governed by a supervisor software module that handles the communication with the other vessel and controls all elementary tasks that compose the overall mission. The elementary tasks, specifically developed for under-actuated vessels, are arranged by priority, and merged using a behavior-based approach, namely the Null-Space based Behavioral control. The proposed technique is validated by field experiments with two autonomous robotic boats on the surface of a lake.
Starting Page	4763
Ending Page	4769
File Size	583986
Page Count	7
File Format	PDF
ISBN	9781424450381
ISSN	10504729
DOI	10.1109/ROBOT.2010.5509147
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-05-03
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Remotely operated vehicles Mobile robots Communication system control Robotics and automation Boats Motion control Automatic control Robot kinematics Vehicle dynamics USA Councils
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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