Unmanned surface vehicles: An overview of developments and challenges

Annual Reviews in Control - Tập 41 - Trang 71-93 - 2016
Zhixiang Liu1, Youmin Zhang1, Xiang Yu1, Chi Yuan1
1Department of Mechanical and Industrial Engineering, Concordia University, Montreal, Quebec H3G 1M8, Canada

Tóm tắt

Từ khóa


Tài liệu tham khảo

Abril, 1997, Fuzzy control of a sailboat, International Journal of Approximate Reasoning, 16, 359, 10.1016/S0888-613X(96)00132-6

Adamek, 2015, Gradient-based cluster space navigation for autonomous surface vessels, IEEE/ASME Transactions on Mechatronics, 20, 506, 10.1109/TMECH.2013.2297152

Alfaro-Cid, 2005, Genetic algorithms optimisation of decoupled sliding mode controllers: Simulated and real results, Control Engineering Practice, 13, 739, 10.1016/j.conengprac.2004.07.004

Almeida, 2010, Cooperative control of multiple surface vessels in the presence of ocean currents and parametric model uncertainty, International Journal of Robust and Nonlinear Control, 20, 1549, 10.1002/rnc.1526

Almeida, 2012, Cooperative control of multiple surface vessels with discrete-time periodic communications, International Journal of Robust and Nonlinear Control, 22, 398, 10.1002/rnc.1698

Alves, 2006, Vehicle and mission control of the DELFIM autonomous surface craft, 1

Annamalai, A., & Motwani, A. (2013). A comparison between LQG and MPC autopilots for inclusion in a navigation, guidance and control system. MIDAS technical report: MIDAS.SMSE.2013.TR.00. MIDAS.

Annamalai, 2014, Innovative adaptive autopilot design for uninhabited surface vehicles, 158

Annamalai, 2014, Robust adaptive control of an uninhabited surface vehicle, Journal of Intelligent & Robotic Systems, 78, 1

Anon (2014a). http://www.asvglobal.com/. Accessed 21.08.15.

Anon (2014b). http://www.tech.plymouth.ac.uk/sme/springerusv/2011/Springer.html. Accessed 21.08.15.

Arrichiello, 2006, Formation control of marine surface vessels using the null-space-based behavioral control, 1

Arrichiello, 2010, Multi-robot collaboration with range-limited communication: Experiments with two underactuated ASVs, 443

Arrichiello, 2012, Cooperative caging and transport using autonomous aquatic surface vehicles, Intelligent Service Robotics, 5, 73, 10.1007/s11370-011-0104-9

Ashrafiuon, 2008, Sliding-mode tracking control of surface vessels, IEEE Transactions on Industrial Electronics, 55, 4004, 10.1109/TIE.2008.2005933

Batista, 2011, On the observability of linear motion quantities in navigation systems, Systems & Control Letters, 60, 101, 10.1016/j.sysconle.2010.11.002

Beck, 2009, SeaWASP: A small waterplane area twin hull autonomous platform for shallow water mapping, Marine Technology Society Journal, 43, 6, 10.4031/MTSJ.43.1.7

Behal, 2002, Tracking and regulation control of an underactuated surface vessel with nonintegrable dynamics, IEEE Transactions on Automatic Control, 47, 495, 10.1109/9.989148

Benjamin, 2004, COLREGs-based navigation of autonomous marine vehicles, 32

Benjamin, 2006, A method for protocol-based collision avoidance between autonomous marine surface craft, Journal of Field Robotics, 23, 333, 10.1002/rob.20121

Bertaska, 2013, Experimental evaluation of approach behavior for autonomous surface vehicles

Bertram, 2008, Unmanned surface vehicles – A survey

Bibuli, 2009, Path-following algorithms and experiments for an unmanned surface vehicle, Journal of Field Robotics, 26, 669, 10.1002/rob.20303

Bibuli, 2012, Guidance of unmanned surface vehicles: Experiments in vehicle following, IEEE Robotics & Automation Magazine, 19, 92, 10.1109/MRA.2011.2181784

Bingham, 2012, Passive and active acoustics using an autonomous wave glider, Journal of Field Robotics, 29, 911, 10.1002/rob.21424

Børhaug, 2011, Straight line path following for formations of underactuated marine surface vessels, IEEE Transactions on Control Systems Technology, 19, 493, 10.1109/TCST.2010.2050889

Breivik, 2010

Breivik, 2008, Straight-line target tracking for unmanned surface vehicles, Modeling, Identification and Control, 29, 131, 10.4173/mic.2008.4.2

Breivik, 2011, A virtual target-based underway docking procedure for unmanned surface vehicles, 13630

Bremer, 2007

Brockett, 1983, Asymptotic stability and feedback stabilization, 181

Brown, 2008, Optimizing the US Navy’s combat logistics force, Naval Research Logistics, 55, 800, 10.1002/nav.20318

Caccia, 2006, Autonomous surface craft: Prototypes and basic research issues, 1

Caccia, 2006, Modelling and identification of the Charlie2005 ASC, 1

Caccia, 2008, Basic navigation, guidance and control of an unmanned surface vehicle, Autonomous Robots, 25, 349, 10.1007/s10514-008-9100-0

Caccia, 2007, Unmanned surface vehicle for coastal and protected waters applications: The charlie project, Marine Technology Society Journal, 41, 62, 10.4031/002533207787442259

Caccia, 2005, Sampling sea surfaces with SESAMO: An autonomous craft for the study of sea-air interactions, IEEE Robotics & Automation Magazine, 12, 95, 10.1109/MRA.2005.1511873

Caccia, 2008, A practical approach to modeling and identification of small autonomous surface craft, IEEE Journal of Oceanic Engineering, 33, 133, 10.1109/JOE.2008.920157

Campbell, 2013, An automatic COLREGs-compliant obstacle avoidance system for an unmanned surface vehicle, Proceedings of the Institution of Mechanical Engineers, Part M: Journal of Engineering for the Maritime Environment, 228, 1

Campbell, 2012, A review on improving the autonomy of unmanned surface vehicles through intelligent collision avoidance manoeuvres, Annual Reviews in Control, 36, 267, 10.1016/j.arcontrol.2012.09.008

Casalino, 2009, A three-layered architecture for real time path planning and obstacle avoidance for surveillance USVs operating in harbour fields, IEEE Conference on Oceans, 1

Casavola, 2010, Fault-tolerant adaptive control allocation schemes for overactuated systems, International Journal of Robust and Nonlinear Control, 20, 1958, 10.1002/rnc.1561

Chamseddine, 2012, Trajectory planning and re-planning for fault tolerant formation flight control of quadrotor unmanned aerial vehicles, 3291

Chen, 2013, Robust adaptive position mooring control for marine vessels, IEEE Transactions on Control Systems Technology, 21, 395, 10.1109/TCST.2012.2183676

Chen, 2010, Modeling and simulation based on fuzzy neural network for unmanned surface vehicle, Ship Science and Technology, 32, 134

Cristofaro, 2014, Fault tolerant control allocation using unknown input observers, Automatica, 50, 1891, 10.1016/j.automatica.2014.05.007

Curcio, 2005, SCOUT–a low cost autonomous surface platform for research in cooperative autonomy, 725

Dai, 2012, Identification and learning control of ocean surface ship using neural network, IEEE Transactions on Industrial Informatics, 8, 801, 10.1109/TII.2012.2205584

Desa, 2007, A small autonomous surface vehicle for ocean color remote sensing, IEEE Journal of Oceanic Engineering, 32, 353, 10.1109/JOE.2007.893688

Ding, 2013, Stabilization of an underactuated surface vessel based on adaptive sliding mode and backstepping control, Mathematical Problems in Engineering, 2013, 1

Do, 2010, Practical control of underactuated ships, Ocean Engineering, 37, 1111, 10.1016/j.oceaneng.2010.04.007

Do, 2002, Underactuated ship global tracking under relaxed conditions, IEEE Transactions on Automatic Control, 47, 1529, 10.1109/TAC.2002.802755

Do, 2002, Universal controllers for stabilization and tracking of underactuated ships, Systems & Control Letters, 47, 299, 10.1016/S0167-6911(02)00214-1

Do, 2003, Robust global stabilization of underactuated ships on a linear course: State and output feedback, International Journal of Control, 76, 1, 10.1080/0020717021000048233

Do, 2006, Robust path-following of underactuated ships: Theory and experiments on a model ship, Ocean Engineering, 33, 1354, 10.1016/j.oceaneng.2005.07.011

Do, 2006, Underactuated ships follow smooth paths with integral actions and without velocity measurements for feedback: Theory and experiments, IEEE Transactions on Control Systems Technology, 14, 308, 10.1109/TCST.2005.863665

Do, 2009

Dong, 2010, Cooperative control of underactuated surface vessels, IET Control Theory & Applications, 4, 1569, 10.1049/iet-cta.2009.0362

Dong, 2008, Formation control of multiple underactuated surface vessels, IET Control Theory & Applications, 2, 1077, 10.1049/iet-cta:20080183

Dong, 2005, Global time-varying stabilization of underactuated surface vessel, IEEE Transactions on Automatic Control, 50, 859, 10.1109/TAC.2005.849248

Du, 2013, A robust adaptive neural networks controller for maritime dynamic positioning system, Neurocomputing, 110, 128, 10.1016/j.neucom.2012.11.027

Dunbabin, 2008, Vision-based docking using an autonomous surface vehicle, 26

Ebken, 2005, Applying unmanned ground vehicle technologies to unmanned surface vehicles, 585

El-Gaaly, 2013, Visual obstacle avoidance for autonomous watercraft using smartphones

Elkaim, 2006, The atlantis project: A GPS-guided wing-sailed autonomous catamaran, Journal of Navigation, 53, 237, 10.1002/j.2161-4296.2006.tb00386.x

Elkins, 2010, The autonomous maritime navigation (AMN) project: Field tests, autonomous and cooperative behaviors, data fusion, sensors, and vehicles, Journal of Field Robotics, 27, 790, 10.1002/rob.20367

Fahimi, 2007, Non-linear model predictive formation control for groups of autonomous surface vessels, International Journal of Control, 80, 1248, 10.1080/00207170701280911

Fahimi, 2007, Sliding-mode formation control for underactuated surface vessels, IEEE Transactions on Robotics, 23, 617, 10.1109/TRO.2007.898961

Fahimi, 2005, Formation control of under-actuated robotic boats, 1607

Fallon, 2010, Cooperative AUV navigation using a single surface craft, 331

Fang, 2011, Fault monitoring and fault recovery control for position-moored vessels, International Journal of Applied Mathematics and Computer Science, 21, 467, 10.2478/v10006-011-0035-9

Feemster, 2011, Comprehensive framework for tracking control and thrust allocation for a highly overactuated autonomous surface vessel, Journal of Field Robotics, 28, 80, 10.1002/rob.20369

Ferreira, 2007, SWORDFISH: An autonomous surface vehicle for network centric operations, 1

Fossen, 1994, Vol. 199

Fossen, 2002, Marine control systems: guidance, navigation, and control of ships, rigs and underwatervehicles, Marine cybernetics

Fossen, 2005, A nonlinear unified state-space model for ship maneuvering and control in a seaway, International Journal of Bifurcation and Chaos, 15, 2717, 10.1142/S0218127405013691

Fossen, 2011

Fossen, 1998, Nonlinear output feedback control of dynamically positioned ships using vectorial observer backstepping, IEEE Transactions on Control Systems Technology, 6, 121, 10.1109/87.654882

Fossen, 1999, Passive nonlinear observer design for ships using lyapunov methods: Full-scale experiments with a supply vessel, Automatica, 35, 3, 10.1016/S0005-1098(98)00121-6

Fredriksen, 2006, Global κ-exponential way-point maneuvering of ships: Theory and experiments, Automatica, 42, 677, 10.1016/j.automatica.2005.12.020

Fu, 2003, Nonlinear adaptive tracking of surface vessels with exogenous disturbances, Asian Journal of Control, 5, 88, 10.1111/j.1934-6093.2003.tb00100.x

Furfaro, 2009, Design, construction, and initial testing of an autonomous surface vehicle for riverine and coastal reconnaissance, 1

Gadre, 2012, Guidance and control of an unmanned surface vehicle exhibiting sternward motion, 1

Gal, 2011, Automatic obstacle detection for USVs navigation using vision sensors, 127

Gal, 2011, Unified approach of unmanned surface vehicle navigation in presence of waves, Journal of Robotics, 2011, 1, 10.1155/2011/703959

Gal, 2013, Tracking objects using PHD filter for USV autonomous capabilities, 3

Ghommam, 2009, Coordinated path-following control for a group of underactuated surface vessels, IEEE Transactions on Industrial Electronics, 56, 3951, 10.1109/TIE.2009.2028362

Ghommam, 2006, Asymptotic backstepping stabilization of an underactuated surface vessel, IEEE Transactions on Control Systems Technology, 14, 1150, 10.1109/TCST.2006.880220

Ghommam, 2010, Global stabilisation and tracking control of underactuated surface vessels, IET Control Theory & Applications, 4, 71, 10.1049/iet-cta.2008.0131

Gomes, 2006, A path-following controller for the DELFIMx autonomous surface craft

Goudey, 1998, A robotic boat for autonomous fish tracking, Marine Technology Society Journal, 32, 47

Guerreiro, 2013, Trajectory tracking nonlinear model predictive control for autonomous surface craft, 3006

He, W., Ge, S. S., How, B. V. E., & Choo, Y. S. (2014). Dynamics and control of mechanical systems in offshore engineering. London: Springer.

Healey, A. J., Horner, D. P., Kragelund, S. P., Wring, B., & Monarrez, A. (2007). Collaborative unmanned systems for maritime and port security operations. DTIC document. Monterey, CA: Naval Postgraduate School, Center for Autonomous Underwater Vehicle Research.

Heidarsson, 2011, Obstacle detection and avoidance for an autonomous surface vehicle using a profiling sonar, 731

Huntsberger, 2011, Stereo vision-based navigation for autonomous surface vessels, Journal of Field Robotics, 28, 3, 10.1002/rob.20380

Hurban, M. A. (2012). Adaptive speed controller for the seafox autonomous surface vessel. DTIC document. Monterey, CA: Naval Postgraduate School.

Ihle, 2006, Formation control of marine surface craft: A Lagrangian approach, IEEE Journal of Oceanic Engineering, 31, 922, 10.1109/JOE.2006.880426

Ihle, 2006, Robust formation control of marine craft using lagrange multipliers, 113

Ihle, 2007, Passivity-based designs for synchronized path-following, Automatica, 43, 1508, 10.1016/j.automatica.2007.02.018

Izadi, 2013, Hierarchical decentralized receding horizon control of multiple vehicles with communication failure, IEEE Transaction on Aerospace and Electronic Systems, 49, 744, 10.1109/TAES.2013.6494378

Ji, 2014, Marine radar target detection for USV, Advanced Materials Research, 1006, 863, 10.4028/www.scientific.net/AMR.1006-1007.863

Jiang, 2002, Global tracking control of underactuated ships by Lyapunov’s direct method, Automatica, 38, 301, 10.1016/S0005-1098(01)00199-6

Johansen, 2013, Fuel optimal thrust allocation in dynamic positioning, Control Applications in Marine Systems, 9, 43

Johansen, 2013, Control allocation—A survey, Automatica, 49, 1087, 10.1016/j.automatica.2013.01.035

Johansen, 2005, Efficient optimal constrained control allocation via multiparametric programming, Journal of Guidance, Control, and Dynamics, 28, 506, 10.2514/1.10780

Johansen, 2008, Optimal constrained control allocation in marine surface vessels with rudders, Control Engineering Practice, 16, 457, 10.1016/j.conengprac.2007.01.012

Kendoul, 2012, Survey of advances in guidance, navigation, and control of unmanned rotorcraft systems, Journal of Field Robotics, 29, 315, 10.1002/rob.20414

Khare, 2012, Modeling and optimization of a hybrid power system for an unmanned surface vehicle, Journal of Power Sources, 198, 368

Khatib, 1986, Real-time obstacle avoidance for manipulators and mobile robots, The International Journal of Robotics Research, 5, 90, 10.1177/027836498600500106

Kiencke, 2006, The impact of automatic control on recent developments in transportation and vehicle systems, Annual Reviews in Control, 30, 81, 10.1016/j.arcontrol.2006.02.001

Kim, 2014, Angular rate-constrained path planning algorithm for unmanned surface vehicles, Ocean Engineering, 84, 37, 10.1016/j.oceaneng.2014.03.034

Kim, 2013, Curvature path planning with high resolution graph for unmanned surface vehicle, 147

Kim, 2012, Toward autonomous robotic containment booms: Visual servoing for robust inter-vehicle docking of surface vehicles, Intelligent Service Robotics, 5, 1, 10.1007/s11370-011-0100-0

Kitts, 2011, Experiments in the control and application of automated surface vessel fleets, 1

Kucik, 2004

Kuwata, 2014, Safe maritime autonomous navigation with COLREGs, using velocity obstacles, IEEE Transaction on Journal of Oceanic Engineering, 39, 110, 10.1109/JOE.2013.2254214

Kyrkjebø, 2007

Kyrkjebø, 2003, Ship replenishment using synchronization control, 286

Kyrkjebø, 2007, Output synchronization control of ship replenishment operations: Theory and experiments, Control Engineering Practice, 15, 741, 10.1016/j.conengprac.2006.07.001

Larson, 2006, Autonomous navigation and obstacle avoidance for unmanned surface vehicles, 623007

Larson, 2007

Lee, 2004, A fuzzy logic for autonomous navigation of marine vehicles satisfying COLREG guidelines, International Journal of Control, Automation and Systems, 2, 171

Leedekerken, 2014, Mapping complex marine environments with autonomous surface craft, 525

Lefeber, 2003, Tracking control of an underactuated ship, IEEE Transactions on Control Systems Technology, 11, 52, 10.1109/TCST.2002.806465

Li, 2008, Point-to-point navigation of underactuated ships, Automatica, 44, 3201, 10.1016/j.automatica.2008.08.003

Li, 2012, Disturbance compensating model predictive control with application to ship heading control, IEEE Transactions on Control Systems Technology, 20, 257

Li, 2009, Design, analysis and experimental validation of a robust nonlinear path following controller for marine surface vessels, Automatica, 45, 1649, 10.1016/j.automatica.2009.03.010

Lindegaard, 2003, Fuel-efficient rudder and propeller control allocation for marine craft: experiments with a model ship, IEEE Transactions on Control Systems Technology, 11, 850, 10.1109/TCST.2003.815613

Lindemuth, 2011, Sea robot-assisted inspection, IEEE Robotics & Automation Magazine, 18, 96, 10.1109/MRA.2011.940994

Liu, 2014, Stabilization and tracking of underactuated surface vessels in random waves with fin based on adaptive hierarchical sliding mode technique, Asian Journal of Control, 16, 1492, 10.1002/asjc.920

Liu, 2014, Path following and stabilization of underactuated surface vessels based on adaptive hierarchical sliding mode, International Journal of Innovative Computing, Information and Control, 10, 909

Liu, 2013, A method of detecting wave grade based on visual image taken by USV, Applied Mechanics and Materials, 291, 2437, 10.4028/www.scientific.net/AMM.291-294.2437

Liu, W., Motwani, A., Sharma, S., Sutton, R., & Bucknall, R. (2014a). Fault tolerant navigation of USV using fuzzy multi-sensor fusion. MIDAS technical report. MIDAS SMSE.2014.TR.010. MIDAS.

Liu, 2015, Path planning algorithm for unmanned surface vehicle formations in a practical maritime environment, Ocean Engineering, 97, 126, 10.1016/j.oceaneng.2015.01.008

Ma, 2009, Global κ-exponential asymptotic stabilization of underactuated surface vessels, Systems & Control Letters, 58, 194, 10.1016/j.sysconle.2008.10.011

Ma, 2013, Video image clarity algorithm research of USV visual system under the sea fog, 436

Mahacek, P. (2005). Dynamic analysis of a SWATH vessel. Internship report. (pp. 1-13). Monterey Bay Aquarium Research Institute.

Mahacek, 2012, Dynamic guarding of marine assets through cluster control of automated surface vessel fleets, IEEE/ASME Transactions on Mechatronics, 17, 65, 10.1109/TMECH.2011.2174376

Mahacek, 2009, Cluster space control of autonomous surface vessels, Marine Technology Society Journal, 43, 13, 10.4031/MTSJ.43.1.2

Majohr, 2006, Modelling, simulation and control of an autonomous surface marine vehicle for surveying applications measuring dolphin MESSIN, IEE Control Engineering Series, 69, 329

Manley, 1997, Development of the autonomous surface craft “ACES”, Vol. 2, 827

Manley, 2008, Unmanned surface vehicles, 15 years of development, 1

Manley, 2000, Evolution of the autonomous surface craft autocat, Vol. 1, 403

Martins, 2007, Autonomous surface vehicle docking manoeuvre with visual information, 4994

Martins, 2007, ROAZ and ROAZ II autonomous surface vehicle design and implementation

Mazenc, 2002, Global uniform asymptotic stabilization of an underactuated surface vessel, IEEE Transactions on Automatic Control, 47, 1759, 10.1109/TAC.2002.803554

McNinch, 2009, Optimal specification of sliding mode control parameters for unmanned surface vessel systems, 2350

McTaggart, 2003, Seakeeping of two ships in close proximity, Ocean Engineering, 30, 1051, 10.1016/S0029-8018(02)00084-7

Mišković, 2011, Fast in-field identification of unmanned marine vehicles, Journal of Field Robotics, 28, 101, 10.1002/rob.20374

Moreira, 2007, Path following control system for a tanker ship model, Ocean Engineering, 34, 2074, 10.1016/j.oceaneng.2007.02.005

Morgado, 2012, Attitude estimation for intervention-AUVs working in tandem with autonomous surface craft, European Journal of Control, 18, 485, 10.3166/ejc.18.485-495

Motwani, 2012

Motwani, 2013, Interval Kalman filtering in navigation system design for an uninhabited surface vehicle, Journal of Navigation, 66, 639, 10.1017/S0373463313000283

Murphy, 2008, Cooperative use of unmanned sea surface and micro aerial vehicles at hurricane wilma, Journal of Field Robotics, 25, 164, 10.1002/rob.20235

Murphy, 2011, Robot-assisted bridge inspection, Journal of Intelligent & Robotic Systems, 64, 77, 10.1007/s10846-010-9514-8

Murray, J. (2008). Sentry – An unmanned swimmer intercept system. DTIC document. QinetiQ North America Inc., Woburn Ma Technology Solutions Group.

Murray, 2007, Recent research in cooperative control of multivehicle systems, Journal of Dynamic Systems, Measurement, and Control, 129, 571, 10.1115/1.2766721

Muske, 2008, Identification of a control oriented nonlinear dynamic USV model, 562

Naeem, 2012, COLREGs-based collision avoidance strategies for unmanned surface vehicles, Mechatronics, 22, 669, 10.1016/j.mechatronics.2011.09.012

Naeem, 2012, An integrated multi-sensor data fusion algorithm and autopilot implementation in an uninhabited surface craft, Ocean Engineering, 39, 43, 10.1016/j.oceaneng.2011.11.001

Naeem, 2008, The design of a navigation, guidance, and control system for an unmanned surface vehicle for environmental monitoring, Proceedings of the Institution of Mechanical Engineers, Part M: Journal of Engineering for the Maritime Environment, 222, 67

Naus, K., & Waż, M. (2013). The idea of using the A* algorithm for route planning an unmanned vehicle ‘Edredo”. In Scientific Journals Maritime University of Szczecin. Zeszyty Naukowe Akademia Morska w Szczecinie.

Nguyen, 2007, Design of hybrid controller for dynamic positioning from calm to extreme sea conditions, Automatica, 43, 768, 10.1016/j.automatica.2006.11.017

Nourisola, 2015, Delayed adaptive output feedback sliding mode control for offshore platforms subject to nonlinear wave-induced force, Ocean Engineering, 104, 1, 10.1016/j.oceaneng.2015.04.082

Oh, 2010, Path following of underactuated marine surface vessels using line-of-sight based model predictive control, Ocean Engineering, 37, 289, 10.1016/j.oceaneng.2009.10.004

Onunka, 2013, Probabilistic uncertainty identification modelling in USV obstacle detection, Journal of the South African Institution of Mechanical Engineering, 29, 36

Onunka, 2013, Modelling the performance of USV manoeuvring and target tracking: An approach using frequency modulated continuous wave radar rotary system, SpringerPlus, 2, 1, 10.1186/2193-1801-2-184

Pan, 2013, An efficient neural network approach to tracking control of an autonomous surface vehicle with unknown dynamics, Expert Systems with Applications, 40, 1629, 10.1016/j.eswa.2012.09.008

Pascoal, 2006, Vehicle and mission control of single and multiple autonomous marine robots, IEE Control Engineering Series, 69, 353

Pastore, 2010, Improving autonomy and control of autonomous surface vehicles in port protection and mine countermeasure scenarios, Journal of Field Robotics, 27, 903, 10.1002/rob.20353

Peng, 2009, Adaptive UKF based tracking control for unmanned trimaran vehicles, International Journal of Innovative Computing, Information and Control, 5, 3505

Peng, 2013, Adaptive dynamic surface control for formations of autonomous surface vehicles with uncertain dynamics, IEEE Transactions on Control Systems Technology, 21, 513, 10.1109/TCST.2011.2181513

Peng, 2011, Robust adaptive formation control of underactuated autonomous surface vehicles with uncertain dynamics, IET Control Theory & Applications, 5, 1378, 10.1049/iet-cta.2010.0429

Peng, 2013, Leaderless and leader-follower cooperative control of multiple marine surface vehicles with unknown dynamics, Nonlinear Dynamics, 74, 95, 10.1007/s11071-013-0951-3

Peng, 2012, Robust leader-follower formation tracking control of multiple underactuated surface vessels, China Ocean Engineering, 26, 521, 10.1007/s13344-012-0039-8

Pereira, 2008, An experimental study of station keeping on an underactuated ASV, 3164

Pettersen, 2000, Underactuated dynamic positioning of a ship-experimental results, IEEE Transactions on Control Systems Technology, 8, 856, 10.1109/87.865859

Pettersen, 2004, Global uniform asymptotic stabilization of an underactuated surface vessel: Experimental results, IEEE Transactions on Control Systems Technology, 12, 891, 10.1109/TCST.2004.833643

Pettersen, 2001, Underactuated ship tracking control: Theory and experiments, International Journal of Control, 74, 1435, 10.1080/00207170110072039

Pinto, 2013, On collaborative aerial and surface robots for environmental monitoring of water bodies, 183

Pinto, 2014, On the design of a robotic system composed of an unmanned surface vehicle and a piggybacked VTOL, 193

Raboin, 2014, Model-predictive asset guarding by team of autonomous surface vehicles in environment with civilian boats, Autonomous Robots, 38, 1

Rajesh, 2008, System identification for nonlinear maneuvering of large tankers using artificial neural network, Applied Ocean Research, 30, 256, 10.1016/j.apor.2008.10.003

Rasal, 2013

Reyhanoglu, 1997, Exponential stabilization of an underactuated autonomous surface vessel, Automatica, 33, 2249, 10.1016/S0005-1098(97)00141-6

2006

Robertsson, 1998, Comments on “nonlinear output feedback control of dynamically positioned ships using vectorial observer backstepping”, IEEE Transactions on Control Systems Technology, 6, 439, 10.1109/87.668046

Sakthivel, 2015, Robust fault-tolerant H∞ control for offshore steel jacket platforms via sampled-data approach, Journal of the Franklin Institute, 352, 2259, 10.1016/j.jfranklin.2015.03.016

Sarrafan, 2012, Neuro-fuzzy control strategy for an offshore steel jacket platform subjected to wave-induced forces using magnetorheological dampers, Journal of Mechanical Science and Technology, 26, 1179, 10.1007/s12206-012-0212-2

Savitz, S., Blickstein, I., Buryk, P., Button, R. W., DeLuca, P., Dryden, J., et al. (2013). US Navy employment options for unmanned surface vehicles (USVs). Santa Monica, CA: Rand National Defense Research Institute.

Schoerling, 2010, Experimental test of a robust formation controller for marine unmanned surface vessels, Autonomous Robots, 28, 213, 10.1007/s10514-009-9163-6

Selvam, 2005, A frequency domain system identification method for linear ship maneuvering, International Shipbuilding Progress, 52, 5

Shah, 2014, Trajectory planning with adaptive control primitives for autonomous surface vehicles operating in congested civilian traffic, 2312

Sharifi, 2014, A distributed deployment strategy for multi-agent systems subject to health degradation and communication delays, Journal of Intelligent and Robotic Systems, 73, 623, 10.1007/s10846-013-9986-4

Sharma, 2012, An autopilot based on a local control network design for an unmanned surface vehicle, Journal of Navigation, 65, 281, 10.1017/S0373463311000701

Sharma, 2012, Modelling the yaw dynamics of an uninhabited surface vehicle for navigation and control systems design, Journal of Marine Engineering and Technology, 11, 9

Sharma, 2013, A genetic algorithm based nonlinear guidance and control system for an uninhabited surface vehicle, Journal of Marine Engineering and Technology, 12, 29

Sharma, 2014, Non-linear control algorithms for an unmanned surface vehicle, Proceedings of the Institution of Mechanical Engineers, Part M: Journal of Engineering for the Maritime Environment, 228, 146

Skejic, 2009, Modeling and control of underway replenishment operations in calm water, Vol. 2009

Skjetne, 2005

Skjetne, 2004, Robust output maneuvering for a class of nonlinear systems, Automatica, 40, 373, 10.1016/j.automatica.2003.10.010

Skjetne, 2005, Adaptive maneuvering, with experiments, for a model ship in a marine control laboratory, Automatica, 41, 289, 10.1016/j.automatica.2004.10.006

Skjetne, 2004, A nonlinear ship manoeuvering model: Identification and adaptive control with experiments for a model ship, Modeling, Identification and Control, 25, 3, 10.4173/mic.2004.1.1

Sø rensen, 2011, A survey of dynamic positioning control systems, Annual Reviews in Control, 35, 123, 10.1016/j.arcontrol.2011.03.008

Soltan, 2009, Trajectory real-time obstacle avoidance for underactuated unmanned surface vessels, 1059

Soltan, 2011, ODE-based obstacle avoidance and trajectory planning for unmanned surface vessels, Robotica, 29, 691, 10.1017/S0263574710000585

Song, 2014

Sonnenburg, 2010, Control-oriented planar motion modeling of unmanned surface vehicles, 1

Sonnenburg, 2012, An experimental comparison of two USV trajectory tracking control laws, 1

Sonnenburg, 2012

Sonnenburg, 2013, Modeling, identification, and control of an unmanned surface vehicle, Journal of Field Robotics, 30, 371, 10.1002/rob.21452

Statheros, 2008, Autonomous ship collision avoidance navigation concepts, technologies and techniques, Journal of Navigation, 61, 129, 10.1017/S037346330700447X

Subramanian, 2006, Shoreline mapping using an omni-directional camera for autonomous surface vehicle applications, 1

Sutton, 2011, Adaptive navigation systems for an unmanned surface vehicle, Journal of Marine Engineering and Technology, 10, 3, 10.1080/20464177.2011.11020248

Svec, 2011, Automated planning logic synthesis for autonomous unmanned vehicles in competitive environments with deceptive adversaries, 171

Svec, 2012, Automated synthesis of action selection policies for unmanned vehicles operating in adverse environments, Autonomous Robots, 32, 149, 10.1007/s10514-011-9268-6

Svec, 2011, Trajectory planning with look-ahead for unmanned sea surface vehicles to handle environmental disturbances, 1154

Svec, 2013, Dynamics-aware target following for an autonomous surface vehicle operating under COLREGs in civilian traffic, 3871

Svec, P., Shah, B. C., Bertaska, I. R., Klinger, W., Sinisterra, A. J., von Ellenrieder, K., et al. (2014a). Adaptive sampling based COLREGS-compliant obstacle avoidance for autonomous surface vehicles. In Proceedings of ICRA 2014 workshop on persistent autonomy for marine robotics.

Svec, 2014, Target following with motion prediction for unmanned surface vehicle operating in cluttered environments, Autonomous Robots, 36, 383, 10.1007/s10514-013-9370-z

Svec, 2012, USV trajectory planning for time varying motion goals in an environment with obstacles, 1297

Tam, 2013, Cooperative path planning algorithm for marine surface vessels, Ocean Engineering, 57, 25, 10.1016/j.oceaneng.2012.09.003

Tee, 2006, Control of fully actuated ocean surface vessels using a class of feedforward approximators, IEEE Transactions on Control Systems Technology, 14, 750, 10.1109/TCST.2006.872507

Terro, 1999, Multi-loop feedback control of offshore steel jacket platforms, Computers & Structures, 70, 185, 10.1016/S0045-7949(98)00152-7

Thakur, 2011, Real-time dynamics simulation of unmanned sea surface vehicle for virtual environments, Journal of Computing and Information Science in Engineering, 11, 031005, 10.1115/1.3617443

Thakur, 2012, GPU based generation of state transition models using simulations for unmanned surface vehicle trajectory planning, Robotics and Autonomous Systems, 60, 1457, 10.1016/j.robot.2012.07.009

Tokekar, 2010, A robotic system for monitoring carp in Minnesota lakes, Journal of Field Robotics, 27, 779, 10.1002/rob.20364

Tran, 2014, Tracking control of an unmanned surface vehicle, 575

US Navy (2007). The navy unmanned surfacevehicle (USV) master plan. http://www.navy.mil/navydata/technology/usvmppr.pdf. Accessed 14.12.15.

Vaneck, 1997, Fuzzy guidance controller for an autonomous boat, IEEE Control Systems Magazine, 17, 43, 10.1109/37.581294

Vaneck, 1996, Automated bathymetry using an autonomous surface craft, Navigation, 43, 407, 10.1002/j.2161-4296.1996.tb01929.x

Vasconcelos, 2011, Discrete-time complementary filters for attitude and position estimation: Design, analysis and experimental validation, IEEE Transactions on Control Systems Technology, 19, 181, 10.1109/TCST.2010.2040619

Vasconcelos, 2011, INS/GPS aided by frequency contents of vector observations with application to autonomous surface crafts, IEEE Journal of Oceanic Engineering, 36, 347, 10.1109/JOE.2011.2126170

Viegas, 2014, Position and velocity filters for ASC/I-AUV tandems based on single range measurements, Journal of Intelligent & Robotic Systems, 74, 745, 10.1007/s10846-013-9876-9

Viegas, 2015, Distributed state estimation for linear multi-agent systems with time-varying measurement topology, Automatica, 54, 72, 10.1016/j.automatica.2015.01.036

Wang, 2013, Adaptive dynamic surface control for cooperative path following of underactuated marine surface vehicles via fast learning, IET Control Theory & Applications, 7, 1888, 10.1049/iet-cta.2013.0021

Wolf, 2010, 360-degree visual detection and target tracking on an autonomous surface vehicle, Journal of Field Robotics, 27, 819, 10.1002/rob.20371

Wondergem, 2004, Experimental results on synchronization control of ship rendezvous operations, 453

Wondergem, 2011, Output feedback tracking of ships, IEEE Transactions on Control Systems Technology, 19, 442, 10.1109/TCST.2010.2045654

Xiao, 2011, Fault-tolerant attitude control for flexible spacecraft without angular velocity magnitude measurement, Journal of Guidance, Control, and Dynamics, 34, 1556, 10.2514/1.51148

Xiao, 2014, Fault-tolerant tracking control of spacecraft with attitude-only measurement under actuator failures, Journal of Guidance, Control, and Dynamics, 37, 838, 10.2514/1.61369

Xu, 2013, Fast path re-planning based on fast marching and level sets, Journal of Intelligent & Robotic Systems, 71, 303, 10.1007/s10846-012-9794-2

Xu, 2014, Fault tolerant formation control of UAVs subject to permanent and intermittent faults, Journal of Intelligent and Robotic Systems, 73, 589, 10.1007/s10846-013-9951-2

Xu, 2006, A fault tolerant multi-sensor navigation system for an unmanned surface vehicle, Vol. 6, 1503

Xu, 2007, A multi-sensor data fusion navigation system for an unmanned surface vehicle, Proceedings of the Institution of Mechanical Engineers, Part M: Journal of Engineering for the Maritime Environment, 221, 167

Yakimenko, 2011, Real-time optimal guidance and obstacle avoidance for UMVS

Yan, 2010, Development and missions of unmanned surface vehicle, Journal of Marine Science and Application, 9, 451, 10.1007/s11804-010-1033-2

Yang, 2011, Multifunctional inshore survey platform with unmanned surface vehicles, International Journal of Automation and Smart Technology, 1, 19, 10.5875/ausmt.v1i2.122

Yang, 2014, A trajectory tracking robust controller of surface vessels with disturbance uncertainties, IEEE Transaction on Control Systems Technology, 22, 1511, 10.1109/TCST.2013.2281936

Yoon, 2003, Identification of hydrodynamic coefficients in ship maneuvering equations of motion by estimation-before-modeling technique, Ocean Engineering, 30, 2379, 10.1016/S0029-8018(03)00106-9

Yu, 2012, Sliding mode tracking control of an underactuated surface vessel, IET Control Theory & Applications, 6, 461, 10.1049/iet-cta.2011.0176

Yu, 2015, Sense and avoid technologies with applications to unmanned aircraft systems: Review and prospects, Progress in Aerospace Sciences, 74, 152, 10.1016/j.paerosci.2015.01.001

Yu, 2008, Course keeping control of an autonomous boat using low cost sensors, Journal of System Design and Dynamics, 2, 389, 10.1299/jsdd.2.389

Yuh, 2011, Applications of marine robotic vehicles, Intelligent Service Robotics, 4, 221, 10.1007/s11370-011-0096-5

Zhang, 2014, Observer-based optimal fault-tolerant control for offshore platforms, Computers & Electrical Engineering, 40, 2204, 10.1016/j.compeleceng.2014.07.004

Zhang, 2014, Sliding mode control with mixed current and delayed states for offshore steel jacket platforms, IEEE Transactions on Control Systems Technology, 22, 1769, 10.1109/TCST.2013.2293401

Zhang, 2012, Stabilization control for offshore steel jacket platforms with actuator time-delays, Nonlinear Dynamics, 70, 1593, 10.1007/s11071-012-0559-z

Zhang, 2015, Delayed non-fragile control for offshore steel jacket platforms, Journal of Vibration and Control, 21, 959, 10.1177/1077546313488159

Zhang, 2013, Sliding mode h∞ control for offshore steel jacket platforms subject to nonlinear self-excited wave force and external disturbance, Nonlinear Analysis: Real World Applications, 14, 163, 10.1016/j.nonrwa.2012.05.010

Zhang, 2013, Active vibration h∞ control of offshore steel jacket platforms using delayed feedback, Journal of Sound and Vibration, 332, 5662, 10.1016/j.jsv.2013.06.029

Zhang, 2011, NNFFC-adaptive output feedback trajectory tracking control for a surface ship at high speed, Ocean Engineering, 38, 1430, 10.1016/j.oceaneng.2011.07.006

Zhang, 2011, Effects of small time-delays on dynamic output feedback control of offshore steel jacket structures, Journal of Sound and Vibration, 330, 3883, 10.1016/j.jsv.2011.03.023

Zhang, 2008, Bibliographical review on reconfigurable fault-tolerant control systems, Annual Reviews in Control, 32, 229, 10.1016/j.arcontrol.2008.03.008

Zhuang, 2011, Motion planning of USV based on marine rules, Procedia Engineering, 15, 269, 10.1016/j.proeng.2011.08.053

Zhuang, 2012, Unmanned surface vehicle local path planning based on marine radar, Journal of Shanghai Jiaotong University, 46, 1371