Cooperative Control of Autonomous Multi-Vessel Systems for Floating
Object Manipulation

Zhe Du

Maritime operations have become complex and large-scale, requiring the involvement of multi-vessel systems. This thesis provides a set of cooperative
control schemes for autonomous multi-vessel systems to manipulate a floating object through physical interconnections in onshore (inland
waterways and ports) and offshore areas. The proposed control schemes enable the manipulation system to deal with environmental disturbances, avoid collisions, regulate object speed, and dynamically coordinate the
roles of tugboats.

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