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AUVs increasingly are being used to collect data in the benthic environment. Many of these data collection tasks require that the AUV is able to follow the terrain at standoff distances on the order of meters (e.g. benthic imaging). However, terrain following with an AUV is a challenging problem when the terrain is rough, and the task becomes even more difficult when using motion-constrained vehicles...
In this paper we demonstrate a method for obstacle avoidance of heterogeneous unmanned marine vehicle teams. The task is to find a collision free path for a vehicle group moving in close formation through an area with known obstacles, while keeping formation when possible and change formation when necessary. Whenever possible, they shall use their original paths in desired formation, as only this...
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