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document
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Du, Zhe (author), Negenborn, R.R. (author), Reppa, V. (author)
This paper proposes a distributed control scheme for autonomous tugboats to tow a ship in a restricted water traffic environment ensuring collision avoidance while being compliant with maritime regulation called COLREGS. The complex problem is cooperatively solved by addressing three sub-optimization problems. The first is to optimize the...
journal article 2022
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document
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Du, Zhe (author), Negenborn, R.R. (author), Reppa, V. (author)
Among the promising application of autonomous surface vessels (ASVs) is the utilization of multiple autonomous tugs for manipulating a floating object such as an oil platform, a broken ship, or a ship in port areas. Considering the real conditions and operations of maritime practice, this paper proposes a multi-agent control algorithm to...
journal article 2021
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