There is often a need to mark or patrol marine areas in order to prevent boat traffic from approaching critical regions, such as the location of a high-value vessel, a dive site, or a fragile marine ecosystem. In this paper, we describe the use of a fleet of robotic kayaks that provides such a function: the fleet circumnavigates the critical area until a threatening boat approaches, at which point the fleet establishes a barrier between the ship and the protected area. Coordinated formation control of the fleet is implemented through the use of the cluster-space control architecture, which is a full-order controller that treats the fleet as a virtual, articulating, kinematic mechanism. An application-specific layer interacts with the cluster-space controller in order for an operator to directly specify and monitor guarding-related parameters, such as the spacing between boats. This system has been experimentally verified in the field with a fleet of robotic kayaks. In this paper, we describe the control architecture used to establish the guarding behavior, review the design of the robotic kayaks, and present experimental data regarding the functionality and performance of the system.Fil: Mahacek, Paul. Santa Clara University; Estados UnidosFil: Kitts, Christopher A.. Santa Clara University; Estados UnidosFil: Mas, Ignacio Agustin. Santa Clara University; Estados Unidos. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentin
