Path Planning for Cooperative Line Of Sight Target Tracking of Heterogeneous Unmanned Marine Vehicle Teams

In this paper we suggest a procedure to perform path planning for cooperative target pursuit, performed by a heterogeneous team of unmanned marine vehicles. This work was performed in the framework of the research project GREX (IST-Project-No. 035223) which aims for the realization of several mission scenarios including cooperative marine vehicles. We will describe the algorithms for the team leader to calculate new paths for all team members online and demonstrate the results in a computer simulation.