Cooperative line of sight target tracking for heterogeneous unmanned marine vehicle teams: From theory to practice

In this paper we present the principle of Cooperative Line Of Sight Target Tracking (CLOSTT) for Heterogeneous Unmanned Marine Vehicle Teams. Thereby CLOSTT is part of a control architecture developed to coordinate existing single heterogeneous autonomous marine vehicles as a team. Within this control architecture CLOSTT separately offers a solution to the task of following a moving underwater target with a team of unmanned marine vehicles. (C) 2014 Elsevier B.V. All rights reserved.