Prescribed -time collision-free formation tracking control for multiple USVs using control barrier functions

Key Points

• Collision-free formation tracking control enhances navigation for multiple USVs in dynamic environments.
• Key evidence includes robust performance in formation adherence across various scenarios with real-time adjustments.
• The approach utilizes control barrier functions for effective tracking and safety regulation during operations.
• This finding may enable more advanced and safer autonomous navigation for unmanned surface vehicles in complex waterways.