Implementation and Experimental Validation of Coverage Control for Trimaran Ships

Environmental monitoring in sea farms is crucial for detecting and predicting harmful signs in water quality for farmed organisms. While the use of unmanned surface vessels for this purpose has been considered, a single vessel is not necessarily able to meet the demands of frequent and high-density water monitoring requirements. This paper focuses on an implementing aspect of coverage control with unmanned trimaran ships for optimally deploying these ships to sea areas of interest. A coverage control law is implemented in a low-end microcontroller, and its practical viability and control performance is evaluated experimentally.