This paper introduces a multi-robot coordinated parallel system for sea towing. Due to the force and direction of the floating-base are constantly changing. it is easy to overturn the crane. Firstly. https://www.roneverhart.com/HP-Pavilion-15-eg2373cl-15-6-FHD-Touch-Laptop-Intel-Core-i7-1255U-3-50-GHz-GeForce-MX550-16GB-DDR4-512GB-SSD-Windows--p8309/