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In this paper we addressed the cooperative transport problem for a team ofautonomous surface vehicles (ASVs) towing a single buoyant load. We considerthe dynamics of the constrained system and decompose the cooperative transportproblem into a collection of subproblems. Each subproblem consists of an ASVand load pair where each ASV is attached to the load at the same point. Sincethe system states evolve on a smooth manifold, we use the tools fromdifferential geometry to model the holonomic constraint arising from thecooperative transport problem and the non-holonomic constraints arising fromthe ASV dynamics. We then synthesize distributed feedback control strategiesusing the proposed mathematical modeling framework to enable the team transportthe load on a desired trajectory. We experimentally validate the proposedstrategy using a team of micro ASVs.

Differential Geometric Approach to Trajectory Planning: Cooperative Transport by a Team of Autonomous Marine Vehicles