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In this paper the application of a behavior-based control approach, namely the Null-Space-based Behavioral control, to coordinate a fleet of autonomous surface vessels is presented. The NSB can be considered as a centralized guidance system aimed at driving the fleet in complex environments while simultaneously performing multiple tasks, i.e., obstacle avoidance or keeping a formation. In order to apply the guidance system to a fleet of underactuated surface vessels, the NSB works indoi:10.1109/iros.2006.282477 dblp:conf/iros/ArrichielloCF06 fatcat:k3en2d6m3fctlglkjk3tkpvi2a