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Piaggio, Benedetto (author), Garofano, V. (author), Donnarumma, Silvia (author), Alessandri, Angelo (author), Negenborn, R.R. (author), Martelli, Michele (author)A novel follow-the-leader approach for azimuth-driven vessels is devised and experimentally tested in a model-scale outdoor scenario. The vessels are equipped with global navigation satellite and inertial navigation systems. A line-of-sight algorithm ensures the yaw-check ability of the follower vessel along the leader's path, while a speed...journal article 2023
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Piaggio, B. (author), Garofano, V. (author), Donnarumma, S. (author), Alessandri, A. (author), Negenborn, R.R. (author), Martelli, M. (author)This paper presents an effective autonomous follow-the-leader strategy for Azimuthal Stern Drive vessels. The control logic has been investigated from a theoretical point of view. A line-of-sight algorithm is exploited to ensure yaw-check ability, while a speed-check feature is implemented to track the velocity of the target along the path....journal article 2020