Formation control is a cooperative control concept in which multiple autonomous underwater
mobile robots are deployed for a group motion and/or control mission. This paper presents a …

The intelligent swarm concept has attracted much interest in recent years. Intelligent swarms
have been deployed in many real-world applications, such as transportations, target …

The analysis and design of nonlinear feedback systems has recently undergone an
exceptionally rich period of progress and maturation, fueled, to a great extent, by (1) the …

In this Chapter the mathematical model of UVMSs is derived. Modeling of rigid bodies
moving in a fluid or underwater manipulators has been studied in literature by, among …

The paper investigates the stability properties of mobile agent formations which are based
on leader following. We derive nonlinear gain estimates that capture how leader behavior …

This paper investigates a method for decentralized stabilization of vehicle formations using
techniques from algebraic graph theory. The vehicles exchange information according to a …

The goal of adaptive sampling in the ocean is to predict the types and locations of additional
ocean measurements that would be most useful to collect. Quantitatively, what is most useful …

We develop and illustrate an efficient but rigorous methodology that predicts the time-
optimal paths of ocean vehicles in continuous dynamic flows. The goal is to best utilize or …

We present a navigation function through which a group of mobile agents can be
coordinated to achieve a particular formation, both in terms of shape and orientation, while …

This paper presents a multifunctional control law for a group of mobile robots. The controller
concurrently integrates flocking, formation control, and path following, as basic components …