Distributed Leader-Follower Formation Control for Autonomous Vessels based on Model Predictive Control

Formation control of autonomous surface vessels (ASVs) has been studied extensively over the last few years since it offers promising advantages. In this paper, two control methods for distributed leader-follower formation control are proposed: A Nonlinear Model Predictive Control (MPC) method and an MPC method using Feedback Linearization. One...

Eco-VTF: Fuel-efficient vessel train formations for all-electric autonomous ships

In this paper, a distributed control approach is proposed to enable fuel-efficient Vessel Train Formations (VTF) in inland waterways and port areas for addressing the efficiency and environmental issues of transport over water. For path tracking, collision avoidance, and consensus over the VTF speed a distributed Model Predictive Control (MPC...