Abstract: To address point conflicts in unmanned surface vehicle (USV) formations caused by neglecting task point allocation and edge conflicts, and the underactuated kinematic model, we present an in-depth analysis and novel solutions for formation reconfiguration. For point conflicts, we design formation resolution rules integrated with a task allocation algorithm to plan a conflict-free set of target points. To tackle edge conflicts arising from traditional trajectory planning, which creates piecewise linear paths unsuitable for underactuated USVs, we introduce constraints based on the actual USV model and the concept of minimal trajectory units. By comparing our method with existing algorithms through simulations and real-world tests, we conduct a detailed analysis of conflicts. Experimental results show that in non-complex water environments, our proposed algorithm significantly outperforms benchmark algorithms, with no conflicts observed during actual operations. These results effectively prove the efficiency and reliability of the proposed algorithm.