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Author

João Zenário

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Preprint Sep 2026

Vision-based Underwater Formation Control With Input Saturations via Barrier Lyapunov Functions

In this work, we propose a communication-free framework for vision-based formation control of fully actuated underwater robots subject to sensing constraints, collision-avoidance requirements, and input saturations. Recentered barrier Lyapunov functions encode sensing and collision-avoidance constraints, while command-...

Nicola de Carli, João Zenário, Victor Nan Fernandez-Ayala et al. · 1 citation · ⚡1

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