Inter-vehicle docking is the problem of coordinating multiple robots to actively form and
maintain physical contact. It is an important capability for autonomous surface vehicles
(ASVs) and is an essential part of a wide class of missions. This article considers one such
mission: the emergency response and environmental protection problem of containing a
floating pollutant. We propose a solution in which multiple robots autonomously navigate so
as to surround the surface matter. Before doing so, the robots dock with one another to …

Inter-vehicle docking is the problem of coordinating multiple robots to actively form and
maintain physical contact. It is an important capability for Autonomous Surface Vehicles
(ASV) and is an essential part of a wide class of missions. This article considers one such
mission: the emergency response and environmental protection problem of containing a
floating pollutant. We propose a solution in which multiple robots autonomously navigate so
as to surround the surface matter. Before doing so, the robots dock with one another in order …