2. Architecture of autonomous sailboats
2.1 Sailboat operation
"The sea, complicated by the wind, is a compound of forces. A ship is a compound of machines. Forces are infinite machines, machines are limited forces. It is between these two organisms, one inexhaustible, the other intelligent, that the battle called navigation is waged", Victor Hugo, Les travailleurs de la Mer.
To understand how a sailboat works, we can distinguish between two cases, depending on whether or not the wind is "pushing" the boat. In the first case (figure
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Architecture of autonomous sailboats
Sailboat modeling
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