Print Email Facebook Twitter Vessel-Platform Automation: Integrating self-assembly with configuration dependent control strategies Title Vessel-Platform Automation: Integrating self-assembly with configuration dependent control strategies Author Boogmans, Bart (TU Delft Mechanical, Maritime and Materials Engineering) Contributor Garofano, V. (mentor) Pang, Y. (graduation committee) Negenborn, R.R. (graduation committee) Coraddu, A. (graduation committee) Degree granting institution Delft University of Technology Programme Mechanical Engineering | Transport Engineering and Logistics Date 2021-11-17 Abstract Vessel platform automation developed notably categorizable in two behaviors: reconfiguration and collaborative motion control. This work explores integration of both behaviors in a single system. Fundamental system characteristics of both behaviors are analyzed to create understanding of the varying design approaches. A multi-vessel platform model approximation is proposed that expresses all module models in one generalized platform coordinate while retaining directional dependent effects. Automated reconfiguration and collaborative, coordinated dynamic positioning are implemented within a single framework. The multi-robot control stucture consists of guidance, navigation & control layers, rather than single systems, where topology changes with platform configuration. Subject Vessel-Platformautomationreconfigurationcollaborative controlmulti-robot coordination To reference this document use: http://resolver.tudelft.nl/uuid:42e0c98a-e882-4499-a18c-b4ecb29e776d Part of collection Student theses Document type master thesis Rights © 2021 Bart Boogmans Files PDF boogmans_vessel_platform_ ... ontrol.pdf 12.67 MB Close viewer /islandora/object/uuid:42e0c98a-e882-4499-a18c-b4ecb29e776d/datastream/OBJ/view