FORMATION CONTROL OF UNDERACTUATED AUVS BASED ON DUAL COORDINATED CONTROL UNDER LIMITED COMMUNICATION, 503-516.

To address the challenge of underactuated autonomous underwatervehicle (AUV) formation control in a limited communicationunderwater environment characterised by limited bandwidth,significant delay, and potential loss of communication, we propose aformation control method that combines virtual follower and dualcoordination control.