Obstacle avoidance for Multiple Unmanned Marine Vehicles (MUMVs) in close formation

In this paper we demonstrate a method for obstacle avoidance of heterogeneous unmanned marine vehicle teams. The task is to find a collision free path for a vehicle group moving in close formation through an area with known obstacles, while keeping formation when possible and change formation when necessary. Whenever possible, they shall use their original paths in desired formation, as only this performance will bring benefit (e.g. collecting data where the measurements of several vehicles shall be merged at the end).