In this paper, the positioning of large surface vessels using multiple, autonomous tugboats is
investigated. Specifically, the paper investigates the development of an adaptive position …

This paper presents a formation modelling scheme based on a set of inter-body constraint
functions and Lagrangian multipliers. Formation control for a fleet of marine craft is achieved …

Sažetak In this paper, we propose a novel coordinated path following controller based on
model predictive control (MPC) for mobile robots. The strategy is based on a virtual structure …

Rapid advances in sensing, computing and communication technologies have led to
considerably increased research activities in multi-robot systems over the last decade …

针对舰船编队系统中的协同控制问题进行了避碰和避障研究. 运用了虚拟结构方法,
通过在势函数中加入相对碰撞函数, 解决了舰队之间的避碰问题; 并通过设定安全航线 …

As offshore operations grow larger and more complex, the requirements for a larger number
of agents-from vessels to equipment-working simultaneously and cooperatively become …

Formation motion, wherein multiple agents operate within close proximity while maintaining
precise relative positions and coordinated movements has a significant impact in the realm …

自主水面航行器(autonomous surface vehicle, ASV) 的协同编队是协同领域中重点研究方向,
协同编队的发展对人类社会具有重要意义. 本文针对多ASV 协同编队, 对该领域相关问题的研究 …