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<p>This thesis elucidates the essential parameters for the design of an autonomous surface vehicle swarm mothership and considerations for docking the two vehicles together autonomously. A theoretical analysis is presented for extending the energy capacity of the vehicles through mothership recharging, resulting in mothership design specifications. A computational analysis of mother-daughter relative motions in waves follows, validating the hullform suitability for docking. Finally, a prototype developed by the author using the proposed methodology is detailed and experimental results are presented which highlight important considerations contributing to the success of autonomous mothership docking.
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<br>Subjects: Autonomous Surface Vehicle, Mothership, Swarm, Autonomous Docking</div>
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Freeman, Andrew</div>
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