Ya-Fei Ge

Elliptical Disk-Based Collision Avoidance for Formation Tracking Control of Underactuated Surface Vessels Under Input Saturation

This paper investigates a formation tracking problem for underactuated surface vessels (USVs) subject to collision avoidance and input saturation constraints. Many existing APF-based formation-control approaches formulate collision avoidance using a single reference point or an inter-center distance, which may provide...