Vision-based Underwater Formation Control With Input Saturations via Barrier Lyapunov Functions

arXiv:2609.25917 · cs.RO, cs.SY, eess.SY · Submitted 2026-09-22 · Read on arXiv

cs.RO, cs.SY, eess.SY

Submitted: 2026-09-22

Updated: 2026-09-22

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Lyapunov function — 10× in this paper · explained in 2 episodes
• Robustness — 2× in this paper · explained in 5 episodes
• Aperture — 1× in this paper · explained in 1 episode
• Calibration — 1× in this paper · explained in 7 episodes
• Conference on Decision and Control — 1× in this paper
• Control Barrier Functions (CBFs) — 1× in this paper · explained in 4 episodes
• Multi-Agent System — 1× in this paper · explained in 6 episodes
• Physical Constraints — 1× in this paper · explained in 7 episodes
• Trace — 1× in this paper · explained in 2 episodes

Sources

• Marinarium: A Modular Experimental Facility for Reproducible Maritime and Space-Analog Field Robotics
• Robust Closed-Form Control for MIMO Nonlinear Systems under Conflicting Time-Varying Hard and Soft Constraints (extended version)

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