Jarle Sandrib

A Hybrid-State Path Planner for ASV Formations with Full-Scale Experiments

We present a hybrid-state path planner for autonomous surface vehicles (ASVs) constrained by a min-imum turning radius. The work is motivated by the future Norwegian naval mine countermeasures (NMCM) concept, which includes mine sweeping operations with ASVs that operate alone or in a formation of t…