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Updated: Sep 29, 2025

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Chemical Spill Encircling Using a Quadrotor and Autonomous Surface Vehicles: A Distributed Cooperative Approach.

Marcelo Jacinto1, Rita Cunha1, António Pascoal1

  • 1Laboratory of Robotics and Systems in Engineering and Science (LARSyS), Instituto Superior Técnico, University of Lisbon, 1049-001 Lisboa, Portugal.

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Summary
This summary is machine-generated.

This study introduces a cooperative control system for quadrotors and marine robots to encircle chemical spills for ocean cleanup. The system uses real-time path planning and event-triggered communications for efficient, coordinated missions.

Keywords:
autonomous surface vehicle controlchemical spill boundary encirclingcooperative path followingonline path planningquadrotor control

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Area of Science:

  • Robotics
  • Control Systems
  • Environmental Engineering

Background:

  • Chemical spills pose significant environmental risks, necessitating efficient cleanup strategies.
  • Coordinated multi-vehicle systems can enhance the effectiveness of ocean cleanup operations.
  • Current methods for spill containment and dispersal may lack real-time adaptability.

Purpose of the Study:

  • To develop and evaluate a cooperative formation control system for quadrotors and marine robots for chemical spill boundary encirclement.
  • To enable autonomous chemical dispersant application for oil spill mitigation.
  • To integrate real-time sensing and path planning for adaptive mission execution.

Main Methods:

  • Mathematical modeling of quadrotor and marine robot dynamics.
  • Lyapunov-based control for individual and cooperative path following.
  • Event-triggered communication for distributed control.
  • Real-time path planning using onboard camera vision and B-spline curves.
  • 3-D simulations and real-water trials for system validation.

Main Results:

  • Successful development of individual and distributed controllers for cooperative path following.
  • Implementation of a vision-based, real-time path planning algorithm for spill boundary detection.
  • Demonstration of coordinated formation control for encirclement tasks.
  • Validation of system performance through simulations and partial real-world trials.

Conclusions:

  • The proposed system effectively enables quadrotors and marine robots to cooperatively encircle chemical spill boundaries.
  • Real-time path planning and event-triggered control are crucial for adaptive and efficient spill response.
  • The integrated system shows promise for autonomous ocean cleanup missions.