Coordinated control of multiple autonomous surface vehicles: challenges and advances -- a systematic review

TL;DR

This systematic review explores the challenges, recent advances, and future directions in the coordinated control of multiple autonomous surface vessels, emphasizing control strategies, machine learning integration, and interdisciplinary research needs.

Contribution

It provides a comprehensive, unbiased overview of state-of-the-art techniques and identifies gaps and emerging trends in coordinated ASV control research.

Findings

Focus on sub-actuated ASVs and customized control strategies

Integration of machine learning for increased autonomy

Identification of research gaps and future directions

Abstract

The increasing use and implementation of Autonomous Surface Vessels (ASVs) for various activities in maritime environments is expected to drive a rise in developments and research on their control. Particularly, the coordination of multiple ASVs presents novel challenges and opportunities, requiring interdisciplinary research efforts at the intersection of robotics, control theory, communication systems, and marine sciences. The wide variety of missions or objectives for which these vessels can be collectively used allows for the application and combination of different control techniques. This includes the exploration of machine learning to consider aspects previously deemed infeasible. This review provides a comprehensive exploration of coordinated ASV control while addressing critical gaps left by previous reviews. Unlike previous works, we adopt a systematic approach to ensure integrity and minimize bias in article selection. We delve into the complex world of sub-actuated ASVs with a focus on customized control strategies and the integration of machine learning techniques for increased autonomy. By synthesizing recent advances and identifying emerging trends, we offer insights that drive this field forward, providing both a comprehensive overview of state-of-the-art techniques and guidance for future research efforts.