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We propose a scalable cooperative control approach which coordinates a groupof rigidly connected autonomous surface vessels to track desired trajectoriesin a planar water environment as a single floating modular structure. Ourapproach leverages the implicit information of the structure's motion for forceand torque allocation without explicit communication among the robots. In oursystem, a leader robot steers the entire group by adjusting its force andtorque according to the structure's deviation from the desired trajectory,while follower robots run distributed consensus-based controllers to matchtheir inputs to amplify the leader's intent using only onboard sensors asfeedback. To cope with the complex and highly coupled system dynamics in thewater, the leader robot employs a nonlinear model predictive controller (NMPC),where we experimentally estimated the dynamics model of the floating modularstructure in order to achieve superior performance for leader-followingcontrol. Our method has a wide range of potential applications in transportinghumans and goods in many of today's existing waterways. We conducted trajectoryand orientation tracking experiments in hardware with three custom-builtautonomous modular robotic boats, called Roboat, which are capable of holonomicmotions and onboard state estimation. Simulation results with up to 65 robotsalso prove the scalability of our proposed approach.

Distributed Motion Control for Multiple Connected Surface Vessels