Follow-the-Leader Guidance, Navigation, and Control of Surface Vessels: Design and Experiments

Benedetto Piaggio, Vittorio Garofano, Silvia Donnarumma, Angelo Alessandri, Rudy Negenborn, Michele Martelli

Research output: Contribution to journalArticleScientificpeer-review

1 Citation (Scopus)
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A novel follow-the-leader approach for azimuth-driven vessels is devised and experimentally tested in a model-scale outdoor scenario. The vessels are equipped with global navigation satellite and inertial navigation systems. A line-of-sight algorithm ensures the yaw-check ability of the follower vessel along the leader's path, while a speed-regulation allows to track its velocity. Track generation, guidance, navigation, and control modules are designed and assembled to be executed on-board in real time. The results of an outdoor experimental campaign are illustrated to show the effectiveness of the proposed approach.

Original languageEnglish
Pages (from-to)997-1008
JournalIEEE Journal of Oceanic Engineering
Issue number4
Publication statusPublished - 2023

Bibliographical note

Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project
Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.


  • Azimuth-drive propulsion
  • escort tugs
  • follow-the-leader control
  • Global navigation satellite system
  • line of sight (LOS)
  • Mathematical models
  • Propellers
  • Protocols
  • Sea surface
  • Surges
  • Telemetry
  • track keeping


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