Small unmanned surface vehicles for naval operations have unique mission and performance requirements. In general, they have to be highly maneuverable and have desirable dynamic response characteristics. They need to be responsive as they maintain accurate path following in confined spaces and shallow waters with static or dynamic obstacles, under the influence of known and unknown time varying external forces. Hence, the physics and mathematics contrive to pose very difficult problems which are non-trivial.
We have looked at various issues relating to this problem.