Tham khảo tài liệu 'mobile robots -towards new applications 2008 part 10', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Underwater Robots Part II Existing Solutions and Open Issues 351 The virtual target principle needs to be deeper investigated. An interesting extension is to attribute to the virtual target another extra degree of freedom ys This could allow the point P to leave the path laterally and design a virtual target control in order to fuse the all the requirements on this runner. Moreover an adjustment of the S1 variable will allow for using a second virtual target as a scout in order to provide a prediction compatible with the control theoretical framework. Deformable constellation The consideration of the guidance problem in a multi-vehicles context is an exciting question where the presence of obstacle in the immediate vicinity of the vehicles is omnipresent. A vehicle deviating from its nominal path may imply a reaction on the entire flotilla members in order to keep the cohesion on the formation and insure a smooth return to a nominal situation. The principle of the Deformable Constellation introduced in Jouvencel et al. 2001 allows for fusing different criteria related to communication minimal distance keeping and mission objectives optimizing the acoustic coverage of the seabed for example and attribute to each member the appropriate individual guidance and control instructions. The theoretical framework of this solution needs to be clarified in order to extend its application and evaluate the guaranteed performances of this solution. Based on an extension of the Virtually Deformable zone this solution allows conceiving the creation of an effective collaborative space for which the objective of the navigation systems of all the members is to complete the knowledge. In this scope the constellation guidance is not any more defined around an arbitrary formation but governed by the obligation of particular measurements prioritized in function of their necessity. This guidance problem of a flotilla in order to optimize the collaborative acquisition of a desired .