This paper investigates the affine formation maneuver control for multi-heterogeneous
unmanned surface vessels (USV), aiming to enable them to navigate through narrow …

Accurate positioning and state estimation of surface vessels are prerequisites to achieving
autonomous navigation. Recently, the rapid development of 3D LiDARs has promoted the …

This research tackles the challenge of dynamic formation control and collision avoidance in
underactuated surface vessels (USVs). Firstly, an affine transformation is employed to …

Accurate estimation of berthing parameters is a prerequisite for unmanned surface vessel
autonomous berthing. A method for berthing parameter estimation is proposed based on …

为准确地估计靠泊参数, 提出了一种基于艇载3D 激光雷达的靠泊参数估计方法. 该方法包括2
个主要模块: 无人艇位姿估计和靠泊状态估计. 无人艇位姿估计模块采用点云预处理算法对原始 …

This work deals with the implementation and evaluation of two low-level motion controllers
and two state observers in the Yellowfish Autonomous Surface Vehicle (ASV) developed at …

This paper describes the application and experimental validation of two different extended
state observers for autonomous surface vehicles. Only the vessel position and orientation …

Este artículo presenta la integración y validación experimental de una ley de guiado de
línea de visión con estimación de estados en vehículos autónomos de superficie (ASVs) …