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Du, Zhe (author), Negenborn, R.R. (author), Reppa, V. (author)Transportation of a large offshore platform from inland waters to the open sea is a hazardous and challenging mission. With the development of the autonomous surface vessel (ASV), the problem of large floating object transportation has a chance to be solved by applying multiple physical-connected autonomous tugboats. This article proposes a...journal article 2023
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Multi-Objective Cooperative Control for a Ship-Towing System in Congested Water Traffic EnvironmentsDu, Zhe (author), Negenborn, R.R. (author), Reppa, V. (author)This paper proposes a multi-objective cooperative control method for a ship-towing system in congested water traffic environments. The control objectives are to coordinate multiple autonomous tugboats for transporting a ship to: (i) follow the waypoints, (ii) adjust the heading, (iii) track the speed profile, and (iv) resolve collisions. The...journal article 2022