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Application of multiple autonomous underwater gliders (AUGs) is a promising method for large scale, long-term ocean survey. Dynamical behaviors of AUGs are inevitably affected by uncertainties in the marine environment. This paper introduces a statistical method for uncertainty analysis in formation control of a fleet of AUGs. The AUG formation is modeled as a multibody system. Artificial potential...
Hybrid-driven underwater glider (HUG) is a new type of autonomous underwater vehicles (AUVs). An HUG fleet can extend the ability of individual vehicles and increase mission efficiency. This paper presents motion planning and obstacle avoidance of multi-HUG formation using the artificial potential field (APF) method and Kane's method. The artificial potential fields used for formation motion control...
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