ICRA 2011 Paper Abstract


Paper TuP212.1

Bhattacharya, Subhrajit (University of Pennsylvania), Heidarsson, Hordur K (University of Southern California), Sukhatme, Gaurav (University of Southern California), Kumar, Vijay (University of Pennsylvania)

Cooperative Control of Autonomous Surface Vehicles for Oil Skimming and Cleanup

Scheduled for presentation during the Regular Sessions "Field and Underwater Robotics II" (TuP212), Tuesday, May 10, 2011, 15:25−15:40, Room 5H

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on March 30, 2020

Keywords Marine Robotics, Direct/Inverse Dynamics Formulation, Autonomous Navigation


Oil skimmers towed by two vehicles have been widely used for skimming of oil on the water surface. In this paper, we address the cooperative control of two autonomous surface vehicles for oil skimming and cleanings. We model the skimmer as a flexible, floating rope of constant length as well as discrete segmented model. We derive the equations governing the rope dynamics from first principles and demonstrate their application through simulations. We have performed field experiments with two autonomous surface vehicles that substantiate the proposed model and provides estimates of constants underlying the model. We propose a method for controlling the shape of the rope, and derive the conditions that maximize skimming efficiency.



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