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2014.8.24 / Conference paper
Flexible triangular formation keeping of marine robotic vehicles using range measurements
This paper addresses the problem of keeping an autonomous marine vehicle in a moving triangular formation by regulating its position with respect to two leader vehicles. The follower vehicle has no prior knowledge of the path described by the leaders but has access to their heading angle and is able to measure inter-vehicle ranges.
19th IFAC World Congress (IFAC WC 2014) / 2014.08.24 / Cape Town, South Africa
Francisco Rego, Jorge M. Soares , António M. Pascoal, A. Pedro Aguiar, Colin Jones