The allocation of tasks among multiple Autonomous Underwater Vehicles (AUVs) with energy constraints in underwater environments presents an NP-complete problem with far-reaching consequences for marine exploration, environmental monitoring, and under...
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...
The current study employs a novel nonlinear robust control approach for path-following control of underactuated autonomous underwater vehicles (AUVs) with multiple uncertainties in the vertical plane. Firstly, a nonlinear underactuated AUV model is e...
The relative motion and coupled dynamics between individual units in a Multiple AUVs in Tandem Connection (MATC) system make speed and inter-unit distance control particularly challenging, especially in large-scale configurations. This study proposes...
Formation control, which is a core problem in multi-autonomous underwater vehicle (AUV) systems, plays an important role in realizing safe and accurate cooperation of multi-AUV systems. This paper provides a study on fault-tolerant formation control...
This paper addresses the challenges of intent recognition in collaborative Autonomous Underwater Vehicle (AUV) search missions, where multiple AUVs must coordinate effectively despite environmental uncertainties and communication limitations. We prop...
Due to limitations in operational scope and efficiency, a single Autonomous Underwater Vehicle (AUV) falls short of meeting the demands of the contemporary marine working environment. Consequently, there is a growing interest in the coordination of m...
In this paper, a robust path-following control strategy is proposed to deal with the path-following problem of the underactuated autonomous underwater vehicle (AUV) with multiple uncertainties and input saturation, and the effectiveness of the propos...
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...
To improve the path-following performance of autonomous underwater vehicles (AUVs) under ocean currents, a control method based on line-of-sight with fuzzy controller (FLOS) guidance and the fuzzy sliding mode controller (FSMC) is proposed. This meth...
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,...
Under complex underwater conditions, multiple AUVs work in one area and they need to cooperate for complicated missions. In this study, a design method was applied for multiple autonomous underwater vehicles (AUVs) that are distributed in an area and...
With the advancement of artificial intelligence, the inference capabilities of Autonomous Underwater Vehicles (AUVs) have significantly improved, leading to growing interest in AUV applications. To ensure reliable operations, the field of underwater...
Collaborative search with multiple Autonomous Underwater Vehicles (AUVs) significantly enhances search efficiency compared to the use of a single AUV, facilitating the rapid completion of extensive search tasks. However, challenges arise in underwate...
This paper is concerned with the consensus of a system involving multiple underactuated autonomous underwater vehicles (AUVs). Combined with a dynamic event-triggered mechanism and a fixed-time stability theorem, the backstepping average consensus co...
Currently, autonomous underwater vehicles (AUVs) are facing various challenges, rendering multiple-AUV (multi-AUV) formation control a pivotal research direction. The issues surrounding formation control for a multi-AUV system to establish time-varyi...
Multiple autonomous underwater vehicles (AUVs) have gradually become the trend in underwater operations. Identifying and detecting these new underwater multi-targets is difficult when studying underwater moving targets. A 28-element transducer is use...
In order to solve the problem of inconsistent state estimation when multiple autonomous underwater vehicles (AUVs) are co-located, this paper proposes a method of multi-AUV co-location based on the consistent extended Kalman filter (EKF). Firstly, th...
Autonomous underwater vehicles (AUVs) are increasingly being used in missions involving submarine cable detection, underwater archaeology, pipeline inspection, military reconnaissance, and so on. It is very important to realize AUV path tracking to a...
The issue of limited energy resources is crucial for underwater wireless sensor networks (UWSNs) because these networks operate in remote and harsh environments where access to power sources is limited. Overcoming the energy constraints is necessary...
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...
The utilization of unmanned systems has witnessed a steady surge in popularity owing to its tremendous potential for a wide range of applications. In particular, the coordination among multiple vehicle systems has been demonstrated to possess unparal...
This paper investigates the task assignment and path planning problem for multiple AUVs in three dimensional (3D) underwater wireless sensor networks where nonholonomic motion constraints of underwater AUVs in 3D space are considered. The multi-targe...
The navigation and positioning of multi-autonomous underwater vehicles (AUVs) in the complex and variable marine environment is a significant and much-needed area of attention, especially considering the fact that cooperative navigation technology is...
The fault feature extraction and diagnosis of autonomous underwater vehicles (AUVs) in complex environments pose significant challenges due to the intricate nature of the signals that reflect the AUVs’ states in the deep ocean. In this paper, a...
High accuracy and reliable navigation in the underwater environment is very critical for the operations of autonomous underwater vehicles (AUVs). This paper proposes an adaptive federated interacting multiple model (IMM) filter, which combines adapti...
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...
Medium Access Control (MAC) delay which occurs between the anchor node’s transmissions is one of the error sources in underwater localization. In particular, in AUV localization, the MAC delay significantly degrades the ranging accuracy. The Cramer-R...
Underwater vehicles’ coordination and formation have attracted increasing attention since they have great potential for real-world applications. However, such vehicles are usually under-actuated and with very limited communication capabilities....
This paper focuses on the formation tracking issue of autonomous underwater vehicles (AUVs) subject to multiple constraints in three-dimensional space. We developed a novel distributed Lyapunov-based model predictive controller (DLMPC) with a fast fi...
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...
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...
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...
This paper is concerned with the coordinated formation control problem of multiple autonomous underwater vehicles (AUVs) under alterable communication topology and time-varying delay in discrete time domain. Firstly, the multi-AUV system is divided i...
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...
In this paper, we propose a data-gathering scheme for hierarchical underwater sensor networks, where multiple Autonomous Underwater Vehicles (AUVs) are deployed over large-scale coverage areas. The deployed AUVs constitute an intermittently connected...
The time-sampling control strategy has communication discontinuities in the control of multiple AUVs (autonomous underwater vehicles). To overcome this problem, a distributed event-triggered communication mechanism is proposed to make each AUV commun...
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...
The paper addresses observability issues related to the general problem of single and multiple Autonomous Underwater Vehicle (AUV) localization using only range measurements. While an AUV is submerged, localization devices, such as Global Navigation...
Recent advances in multiple autonomous underwater vehicles (AUVs) have highlighted formation control as a critical challenge for underwater collaborative operations. To address the inherent coupling between formation coordination and individual contr...
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...
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...
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...
During the implementation of time-consuming tasks such as underwater observation or detection, AUV has to face a difficult and urgent problem that its working duration is greatly shortened by the limited energy stored in the battery device. To solve...
This paper introduces the localization method of an Autonomous Underwater Vehicle (AUV) in environments (such as harbors or ports) where there can be passing ships near the AUV. It is assumed that the AUV can access the trajectory and approximate sou...
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...
Traditional cooperative navigation algorithms for multiple AUVs are typically designed for a single specific configuration, such as parallel or leader-slave. This paper proposes a novel cooperative navigation algorithm based on factor graph and Lie g...
In this paper, we investigate the formation isolation regulation issue regarding multiple Autonomous Underwater Vehicles (AUVs) characterized by a “leader–follower” framework. Considering the cooperative–competitive relationsh...
The onboard energy supply of Autonomous Underwater Vehicles (AUVs) is one of the main limiting factors for their development. The existing methods of deploying and retrieving AUVs from mother ships consume a significant amount of energy during submer...
Autonomous underwater vehicles have seen widespread adoption across industrial, scientific, and defence applications. They are typically utilized to perform oceanic mapping, surveillance, and inspection-type missions. Hovering AUVs, used for inspecti...
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