FORMATION CONTROLLERS FOR UNDERACTUATED SURFACE VESSELS AND ZERO DYNAMICS STABILITY
Why this work is in the frame
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Bibliographic record
Abstract
Nonlinear feedback control laws for controlling multiple robotic vessels in arbitrary formations are proposed. The presented leader-follower formation control approach uses only the inertial information obtained from the immediate neighbours of each vehicle via communication for control calculations. A three-degree-of-freedom (3DOF) surface vessel dynamic model and the method of Lyapunov has been used to derive the nonlinear control laws that stabilize the relative distance and orientation of neighboring vessels. It is shown that the internal dynamics of the 3DOF vessel as an underactuated system is also stable. The performance of these control laws is demonstrated in the presence of sea disturbances by computer simulations using a 6DOF dynamic model of the surface vessel. These controllers can be utilized to control an arbitrary number of robotic vessels moving in very general formations.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.001 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.001 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.001 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it