Coordinated path following for multiple underactuated AUVs

  title={Coordinated path following for multiple underactuated AUVs},
  author={Jawhar Ghommam and Oscar Calvo and Alejandro Rozenfeld},
  journal={OCEANS 2008 - MTS/IEEE Kobe Techno-Ocean},
This paper addresses the problem of coordinated path following whereby multiple underactuated marine crafts are required to follow a prescribed paths while keeping a desired inter-vehicle formation pattern. We show how Lyapunov- based techniques and graph theory can be brought together to yield a decentralized control structure where the dynamics of the cooperating vehicles and the constraints imposed by the topology of the inter-vehicle communications network are explicitly taken into account… CONTINUE READING