Abstract
This paper presents experimental results from controlling a formation of three Uncrewed Surface Vessels (USVs) using Rigid Formation Control (RFC). RFC algorithm output commands are then modified for use on marine vessels as they are inherently different from other multi-agent systems, both in design and environmental factors. The RFC algorithm assumes that formation agents are located at a graph’s vertices and the inter-agent spacing is the length of a graph’s edges. Each agent is assumed to have dynamics represented by a single integrator. While this control approach benefits from its simplicity, the RFC algorithm’s fixed frame velocity command must be modified in such a manner that the vessel’s low level controller can achieve formation convergence and maneuvering. Both simulated and experimental results are presented, demonstrating both formation acquisition and maneuvering.
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