Formation Control in the scope of the MORPH project. Part II: Implementation and Results★ ★

: Based on a companion publication that introduces the theoretical foundations, this paper describes the implemented architecture for formation control of the upper segment vehicles of the MORPH project. We highlight the necessary modifications and additional elements, mainly in terms of control and estimation, to allow for the implementation in real vehicles. We illustrate the performance of the system with results from sea trials in Lisbon and in the Azores, with a number of heterogeneous vehicles from multiple partners involved in the project.