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This paper addresses the problem of cooperative object transportation formultiple Underwater Vehicle Manipulator Systems (UVMSs) in a constrainedworkspace with static obstacles, where the coordination relies solely onimplicit communication arising from the physical interaction of the robots withthe commonly grasped object. We propose a novel distributed leader-followerarchitecture, where the leading UVMS, which has knowledge of the object'sdesired trajectory, tries to achieve the desired tracking behavior via animpedance control law, navigating in this way, the overall formation towardsthe goal configuration while avoiding collisions with the obstacles. On theother hand, the following UVMSs estimate the object's desired trajectory via anovel prescribed performance estimation law and implement a similar impedancecontrol law. The feedback relies on each UVMS's force/torque measurements andno explicit data is exchanged online among the robots. Moreover, the controlscheme adopts load sharing among the UVMSs according to their specific payloadcapabilities. Finally, various simulation studies clarify the proposed methodand verify its efficiency.

Decentralized Impedance Control for Cooperative Manipulation of Multiple Underwater Vehicle Manipulator Systems under Lean Communication