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This paper addresses the problem of cooperative object transportation formultiple Underwater Vehicle Manipulator Systems (UVMSs) in a constrainedworkspace involving static obstacles. We propose a Nonlinear Model PredictiveControl (NMPC) approach for a team of UVMSs in order to transport an objectwhile avoiding significant constraints and limitations such as: kinematic andrepresentation singularities, obstacles within the workspace, joint limits andcontrol input saturations. More precisely, by exploiting the coupled dynamicsbetween the robots and the object, and using certain load sharing coefficients,we design a distributed NMPC for each UVMS in order to cooperatively transportthe object within the workspace's feasible region. Moreover, the control schemeadopts load sharing among the UVMSs according to their specific payloadcapabilities. Additionally, the feedback relies on each UVMS's locallymeasurements and no explicit data is exchanged online among the robots, thusreducing the required communication bandwidth. Finally, real-time simulationresults conducted in UwSim dynamic simulator running in ROS environment verifythe efficiency of the theoretical finding.

A Distributed Predictive Control Approach for Cooperative Manipulation of Multiple Underwater Vehicle Manipulator Systems