This paper considers the formation trajectory tracking problem of discrete-time distributed multi-AUVs (multiple autonomous underwater vehicles) with control input in a nonconvex set and weak communication. Firstly, a linear model of a single AUV is...
As a new type of marine unmanned intelligent equipment, autonomous underwater vehicle (AUV) has been widely used in the field of ocean observation, maritime rescue, mine countermeasures, intelligence reconnaissance, etc. Especially in the underwater...
In the context of multi-autonomous underwater vehicle (multi-AUV) operations, the target assignment is addressed as a multi-objective allocation (MOA) problem. The selection of strategy for multi-AUV target allocation is dependent on the current non-...
This paper proposes a convolutional multi-agent deep deterministic policy gradient method with prioritized experience replay (PER-CMADDPG) for the problem of multi-AUV cooperative search for moving targets. A comprehensive mathematical model of the m...
Cooperative localization (CL) is considered a promising method for underwater localization with respect to multiple autonomous underwater vehicles (multi-AUVs). In this paper, we proposed a CL algorithm based on information entropy theory and the pro...
In this paper, target hunting aims to detect target and surround the detected target in a surface-water using Multiple Autonomous Underwater Vehicles (multi-AUV) in a given area. The main challenge in multi-AUV target hunting is the design of AUV&rsq...
As an emerging direction of multi-agent collaborative control technology, multiple autonomous underwater vehicle (multi-AUV) cooperative area search technology has played an important role in civilian fields such as marine resource exploration and de...
In this paper, the formation coordination control of discrete-time distributed leaderless multiple autonomous underwater vehicle (AUV) system with double independent position–velocity communication topology and control inputs on a nonconvex set...
The assessment of multiple incoming autonomous underwater vehicles (multi-AUVs) and threat prioritization are critical to underwater defense. To solve problems troubling multi-AUV threat assessment solutions, such as difficult data analysis, high sub...
It is important for underwater wireless sensor networks (UWSNs) to satisfy the diverse monitoring demands in harsh and perilous three-dimensional underwater environments. After the monitoring missions and demands transform, a large number of underwat...
The instability of the underwater environment and underwater communication brings great challenges to the coordination and cooperation of the multi-Autonomous Underwater Vehicle (AUV). In this paper, a multi-AUV dynamic maneuver countermeasure algori...
To deal with the task assignment problem of multi-AUV systems under kinematic constraints, which means steering capability constraints for underactuated AUVs or other vehicles likely, an improved task assignment algorithm is proposed combining the Du...
This article addresses the containment control issue for multi-AUV systems with the intervention of both external disturbance and input saturation. Firstly, a distributed estimator is established for the sake of acquiring precise estimation informati...
Following the development of autonomous underwater vehicles (AUVs), multiple trajectory-based submarine target information collection constitutes one of the key technologies that significantly influence underwater information collection ability and d...
Task allocation is crucial for autonomous underwater vehicle (AUV) collaboration in multi-AUV maritime search and rescue missions. In real projects, there are possible target areas existing in task areas, which are not expected to be divided. Motivat...
The research and development of the ocean has been gaining in popularity in recent years, and the problem of target searching and hunting in the unknown marine environment has been a pressing problem. To solve this problem, a distributed dynamic pred...
Cooperative hunting is a typical task that reflects the intelligence level of a swarm. For the complex underwater weak information environment with obstacles, a problem description of the multi-autonomous underwater vehicle (AUV) cooperative hunting...
This paper addresses the challenge of cooperatively escorting a moving underwater target, such as a human-occupied vehicle (HOV), using a multi-AUV formation in complex ocean environments. We propose a comprehensive framework, RG-SAPF scheme, that in...
In this study, we focus on the Multi-robot Coverage Path Planning (MCPP) problem for maritime Search And Rescue (SAR) missions using a multiple Autonomous Underwater Vehicle (AUV) system, with the ultimate purpose of efficiently and accurately discov...
Aiming at the cooperative path-planning problem of multiple autonomous underwater vehicles in underwater three-dimensional terrain and dynamic ocean current environments, a hybrid algorithm based on the Improved Multi-Objective Particle Swarm Optimiz...
In order to meet the needs of large-scale underwater operations, the underwater acoustic communication network emerged, marking a historic moment. At the same time, the development of artificial intelligence has promoted the application of intelligen...
In this paper, multiple autonomous underwater vehicle (multi-AUV) formation control with obstacle avoidance ability in 3D complex underwater environments based on an event-triggered model predictive control (EMPC) is proposed. Firstly, multi-AUV moti...
Aiming at the difficulty of realizing full-coverage path planning in a multi-AUV collaborative search, a multi-AUV full-coverage path-planning algorithm based on intuitionistic fuzzy decision-making is proposed. First, the state space model of the se...
Target search for moving and invisible objects has always been considered a challenge, as the floating objects drift with the flows. This study focuses on target search by multiple autonomous underwater vehicles (AUV) and investigates a multi-agent t...
In the complex and variable marine environment, the navigation and localization of autonomous underwater vehicles (AUVs) are very important and challenging. When the conventional Kalman filter (KF) is applied to the cooperative localization of leader...
The underwater environment is a harmful environment, yet one of the richest and least exploited. For these reasons the idea of a robotic companion with the task of supporting and monitoring divers during their activities and operations has been propo...
For a target search of autonomous underwater vehicles (AUVs) in a completely unknown three-dimensional (3D) underwater environment, a multi-AUV collaborative target search algorithm based on adaptive prediction is proposed in this paper. The environm...
Cooperative task allocation is one of the critical enablers for multi-Autonomous Underwater Vehicle (AUV) missions, but existing approaches often assume reliable communication that rarely holds in real underwater acoustic environments. We study here...
Collaborative operations of multiple AUVs have been becoming increasingly popular and efficient in underwater tasks of marine applications. Autonomous navigation capability and cooperative control stability of multiple AUVs are crucial and challengin...
Cooperative path planning is recognized as a critical technology for Autonomous Underwater Vehicle (AUV) clusters to execute complex marine operations. Through multi-AUV cooperative decision-making, perception limitations of individual robots can be...
This paper explores the application of Deep Reinforcement Learning (DRL) to optimize adaptive observation strategies for multi-AUV systems in complex marine environments. Traditional algorithms struggle with the strong coupling between environmental...
For underwater target exploration, multiple Autonomous Underwater Vehicles (AUVs) have shown significant advantages over single AUVs. Aiming at Multi-AUV task allocation, which is an important issue for collaborative work in underwater environments,...
This paper focuses on the finite-time formation-control problem of a multi-AUV formation under unknown perturbations with prescribed performance. First, the nonlinear AUV model is transformed into a second-order integral model using feedback lineariz...
To reduce the cooperative positioning error and improve the navigation accuracy, a single master–slave AUV cooperative navigation method is proposed in this paper, which mainly focuses on planning the optimal path of the master AUV by the time...
In this paper, the multiple autonomous underwater vehicles (AUVs) task allocation (TA) problem in ocean current environment based on a novel reinforcement learning approach is studied. First, the ocean current environment including direction and inte...
For the problem of hydroacoustic communication constraints in multi-AUV leader follower formation, this paper designs a formation control method combining CNN-LSTM prediction and backstepping sliding mode control. First, a feedback linearization meth...
This paper focuses on the collision-free formation tracking of autonomous underwater vehicles (AUVs) with compound disturbances in complex ocean environments. We propose a novel finite-time extended state observer (FTESO)-based distributed dual close...
Reinforcement learning has made significant progress in single-agent applications, but it still faces various challenges in multi-agent scenarios. This study investigates the application of reinforcement learning algorithms in a competitive game scen...
In collaborative operations of multiple autonomous underwater vehicles (AUVs), the complexity of underwater environments and limited onboard energy make environmental adaptation and energy efficiency critical metrics for evaluating path quality. This...
Task assignment is of paramount importance in multi-AUV systems, particularly in applications such as bridge inspection where task execution is direction-specific. In such scenarios, the underactuation of AUVs is a critical factor that cannot be igno...
Positioning errors introduced by low-precision navigation devices can affect the overall accuracy of a positioning system. To address this issue, this paper proposes a master-slave multi-AUV collaborative navigation method based on hierarchical reinf...
This paper investigates the collaborative obstacle avoidance control of multiple autonomous underwater vehicles (AUVs) in underwater environments with communication delays and intermittent connectivity. Firstly, a novel time-delay piecewise different...
Reinforcement learning (RL) is known for its efficiency and practicality in single-agent planning, but it faces numerous challenges when applied to multi-agent scenarios. In this paper, a Super Sampling Info-GAN (SSIG) algorithm based on Generative A...
This paper proposes a centralized MTT method based on a state-of-the-art multi-sensor labeled multi-Bernoulli (LMB) filter in underwater multi-static networks with autonomous underwater vehicles (AUVs). The LMB filter can accurately extract the numbe...
Given the lack of systematic research on bathymetric surveys with multi-beam sonar carried by autonomous underwater vehicles (AUVs) in unfamiliar waters, this paper proposes a method for multi-beam bathymetric surveys based on the constant-depth mode...
To address the issues of high attenuation, weak reception signal, and channel blockage in the current electric field communication of underwater robots, research on autonomous underwater vehicle (AUV) multi-node networking communication based on unde...
The trajectory tracking the control of autonomous underwater vehicle (AUV) systems faces considerable challenges due to strong inter-axis coupling and complex time-varying external disturbances. This paper proposes a novel fixed-time control scheme i...
As marine activities expand, deploying underwater autonomous vehicles (AUVs) becomes critical. Efficiently navigating these AUVs through intricate underwater terrains is vital. This paper proposes a sophisticated motion-planning algorithm integrating...
Multi-AUV cooperative hunting requires autonomous underwater vehicles (AUVs) to strategize the encirclement of evaders while navigating around obstacles and other AUVs. Despite the promise of multi-agent reinforcement learning (MARL) in continuous co...
This paper addresses the consensus control challenge for multiple autonomous underwater vehicles’ (AUVs) formation operating under external disturbances and communication delays. A fixed-time disturbance observer (FxTDO) is developed to precise...
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