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

arXiv · AI, language, vision and robotics · article · Sep 22, 2026 · UTC

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-filtered backstepping extends the design to the second-order vehicle dynamics. The resulting control objective is enforced through a quadratic program that explicitly accounts for actuator limits. Conservative sensing domains provide margins from the physical limits and are adapt

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