Fig. 1. [in Chinese]

Fig. 2. [in Chinese]

Fig. 3. [in Chinese]

Fig. 4. [in Chinese]

Fig. 5. [in Chinese]

Fig. 6. [in Chinese]

Fig. 7. [in Chinese]

Fig. 8. Composite disturbances and the observed values by the follower USV-1USV-1的复合扰动的分量及其观测值

Fig. 9. [in Chinese]

Fig. 10. [in Chinese]

Fig. 11. [in Chinese]

Fig. 12. Distances among USVs w/ and w/o connectivity preservation strategy in the presence of obstacles (communication range m)在有/无连通性保持策略及存在障碍物场景下USV的间距变化曲线（通信范围 m）