This article proposes a swarm-based path-following guidance system for an autonomous marine multi-vehicle system. In particular, a team of unmanned surface vehicles is required to converge to and navigate along a desired reference path, while at the same time aggregating and maintaining a range-based formation configuration. First, a separate description is given for a swarm methodology, initially developed for small ground mobile robots and exploited to aggregate the robot team, and a virtual target–based path-following guidance system developed for unmanned surface vehicles, exploited to drive not the single vehicles but the robot formation as a whole. Then, the integration of the two proposed methodologies is reported and proven, in order to guarantee the feasibility and stability of the overall guidance framework. Simulative results are proposed to validate the effectiveness of the proposed methodology and to evaluate the system performances.
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