Table 1.

The initial states of the leader UUV and all follower UUVs.

	Init$\mathit{x}$ (m)	Init$\mathit{y}$ (m)	Init$\mathit{z}$ (m)	Init$\mathit{\theta }$ (deg)	Init$\mathit{\psi }$ (deg)	Init$\mathit{u}$ (m/s)	Init$\mathit{v}$ (m/s)	Init$\mathit{w}$ (m/s)
Leader	60	3	0	–10	90	1.58	0.1	–0.12
UUV 1	54.5	–15.6	0	1.83	164	0.1	0	0
UUV 2	75.1	–20	0	10	135	0.27	0	0
UUV 3	20.6	–23	0	0	41.8	0.2	0	0
UUV 4	88.6	–18	0	8.9	137.6	0.28	0	0