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SMaRT-Tug: Structured Multi-Agent Reinforcement Learning for Physics-Based Tugboat-Barge Collaborative Manipulation

arXiv · AI, language, vision and robotics · article · Sep 7, 2026 · UTC

Autonomous tugboating is central for automating maritime operations such as port logistics and vessel maneuvering, where multiple tugboats must cooperatively transport/manipulate a larger vessel. Collaborative pushing in this setting is challenging due to coupled hydrodynamics, low resistance, strong environmental disturbances, underactuated barge dynamics, and contact-rich interactions. Conventional control methods often rely on simplified models and fixed configurations, which limit their adaptability, while learning-based approaches are constrained by the lack of scalable and physically rea

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