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Formation control of underactuated autonomous surface vessels using redundant manipulator analogs

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1 Author(s)
Bishop, B.E. ; United States Naval Acad., Annapolis, MD, USA

In this paper, we present a method utilizing redundant manipulator analogs for formation control of underactuated autonomous surface vessels (ASVs) with realistic turning constraints and dynamics. The method used relies on casting the swarm as a single entity and utilizing redundant manipulator techniques to guarantee task-level formation control as well as obstacle avoidance and secondary tasks such as mean position control. The method presented differs from other approaches in that the units herein represent a larger class of ASVs with realistic limitations on vessel motions and that the exact position of each of the units on the formation profile is not specified.

Published in:

Robotics and Automation (ICRA), 2012 IEEE International Conference on

Date of Conference:

14-18 May 2012