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Autonomous robotic boats are expected to perform several tasks: 1) navigateautonomously in water environments, such as the canals of Amsterdam; 2) performindividual task, such as water monitoring, transporting goods and people; 3)latch together to create floating infrastructure, such as bridges and markets.  In this paper we present a novel bio-inspired robotic system for latching,towing and guiding a floating passive-power-less platform. The challenge is todesign an adaptive latching mechanism, able to create a secure connectionbetween the entities, easy to attach/detach, even if the boats are affected bywater disturbances. But most important, the adaptive latching must be able torestricting the DoF (degrees of freedom) of the latched "dummy" platform.Since, the robotic boat may drive it in narrow water canals and must prevent itfrom drifting and hitting the wall.  This novel adaptive latching mechanism is based on the ball and socket jointthat allows rotation and free movements in two planes at the same time. Itconsists of two parts: the male part that includes a bearing stud (ball)integrated on the floating bin "dummy" and the female part located on theautonomous robotic boat. Which integrates an adaptive framed funnel to guidethe male ball into an actuated receptor that traps the ball, creating theball-socket joint between the boats. In this sense, the adaptive latchingmechanism mimics squid's tentacles that can adjust the forces applied to aholding object restricting its degrees of freedom.  Experimental results are presented from our swarm robotic boats integratingthe adaptive latching system and performing the towing and guiding use cases.

Bio-inspired Adaptive Latching System for Towing and Guiding Power-less Floating Platforms with Autonomous Robotic Boats