Here is an idea that springs to mind.
You build small motorised buoys.
It may seem like a bit of a pain as you will need to build more than one, but I believe it will serve your purpose well.
If you use soft drinks bottles for catamaran hulls it will keep down the work and costs.
Pyramid weights hold the bottom well, and don't catch in weeds.
You can make your own or buy from a sea angling shop.
They also lift very easy, two kg as in the picture would probably be overkill even on a very windy day.
Drum winch can be made from a modified servo. I have seen a thread on here as how this is done. Somebody else on mayhem would be a better source of advice on mods I am sure.
Using a schottle drive will keep things simple, but is expensive.
If you do a search on the Mayhem sight for 'rescue boats, I think there is a cheaper method of sorting out the steering using pop bottles.
Alternatively, you could build the buoy, with winch, but without propulsion, and push them out using any other boat, including a sail boat or a cheap RTR
Like I say, just an idea. But I think multiple mobile buoys is the best way froward.