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To address these problems, an innovative control method for a multi-AUV dense formation is proposed. First, a model predictive controller (MPC) that considers AUV input constraints and external disturbances is designed such that a multi-AUV dense formation can accurately maintain a desired formation while tracking a reference trajectory. After that, at the kinematics level, an optimal path for a safe and efficient multi-AUV dense formation transformation is generated based on the Hungarian method. Furthermore, considering an underactuated and nonlinear AUV dynamics model at the dynamics level, a potential function based on collision avoidance is established. It is added to the MPC objective function to further guarantee the potential of the formation transformation. Finally, a multi-AUV dense formation maintenance simulation shows that the proposed method can guarantee higher trajectory tracking accuracy than other algorithms. A multi-AUV dense formation transformation simulation shows that the proposed method avoids the occurrence of cross paths and a safe distance between AUVs is always maintained. The above results demonstrate that multi-AUV dense formations can achieve accurate maintenance and safe transformations, and the proposed method is feasible and effective.<\/jats:p>","DOI":"10.1177\/09596518241245162","type":"journal-article","created":{"date-parts":[[2024,4,30]],"date-time":"2024-04-30T06:32:57Z","timestamp":1714458777000},"page":"1608-1624","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":0,"title":["Maintenance and transformation method for a multi-AUV dense formation"],"prefix":"10.1177","volume":"238","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-8707-4533","authenticated-orcid":false,"given":"Kuo","family":"Chen","sequence":"first","affiliation":[{"name":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China"},{"name":"Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, 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