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Development of Visual Servoing-Based Autonomous Docking Capabilities in a Heterogeneous Swarm of Marine Robots
2020
Applied Sciences
This paper describes the design, development, and testing of both hardware and software for a visual servoing-based system that enables agents within a heterogeneous marine robotic swarm to share energy. The goal of this system is prolonging the active operational time of the swarm as a whole, allowing it to perform long-term environmental monitoring and data collection missions. The implementation presented in the paper features an over-actuated autonomous surface platform docking up to four
doi:10.3390/app10207124
fatcat:ln4hwy5gira5ba7f32bpdcoiki