Curved Trajectory Tracking for Surface Vessel Formations

Following curved trajectories with a formation of vehicles can be accomplished by defining the formation positions relative to the trajectory. Using a Serret-Frenet frame results in problems along straight lines and at inflection points; we suggest to use a geometric reference frame instead. Conditional integrators are used to obtain robustness against constant external disturbances. Simulation results are provided to illustrate the effectiveness of the proposed method.