2019/05/03 by Bin Liu, Liu, Bin, Zhiyong Chen +11
Computer Science · Engineering · #Distributed Control Multi-Agent Systems #FOS: Electrical engineering #Systems and Control (eess.SY) #UAV Applications and Optimization #Underwater Vehicles and Communication Systems #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.1905.01215
openalex publication_date 2019/05/03 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
A multi-unmanned surface vessel (USV) formation control system is established on a novel platform composed of three 1.2 meter-long hydraulic jet propulsion surface vessels, a differential GPS reference station, and inter-vessel Zigbee communication modules. The system is also equipped with an upper level collective multi-USV protocol and a lower level vessel dynamics controller. The system is capable of chasing and surrounding a target vessel. The results are supported by rigorous theoretical analysis in terms of asymptotical surrounding behavior and trajectory regulation. Extensive experiments are conducted to demonstrate the effectiveness and efficiency of the proposed hardware and software architectures.