This study addresses the optimization of node redeployment coverage in underwater wireless sensor networks. Given that nodes could easily become invalid under a poor environment and the large scale of underwater wireless sensor networks, an underwate...
With the increasing frequency of marine activities, the significance of underwater target search and rescue has been highlighted, where precise and efficient path planning is critical for ensuring search effectiveness. This study proposes an underwat...
Underwater wireless sensor networks (UWSNs) have applications in several fields, such as disaster management, underwater navigation, and environment monitoring. Since the nodes in UWSNs are restricted to inbuilt batteries, the effective utilization o...
In this study, a set of different search strategies for locating submarine groundwater discharge (SGD) are investigated. This set includes pre-defined path planning (PPP), adapted random walk (RW), particle swarm optimisation (PSO), inertia Levy-flig...
Maritime disasters pose substantial social and economic challenges and often require complex, resource-intensive search and rescue operations to minimize loss of life and damage to infrastructure. This study proposes a sustainable and quantitative fr...
Efficiency has always been one of the most critical indicators for evaluating wireless power transfer (WPT) systems. To achieve fast maximum energy efficiency tracking (MEET), this paper provides an innovative control method utilizing the hill climbi...
In this paper, we propose a cubic spline interpolation method to generate a desired curve path and present an integral line of sight (ILOS) method and a control strategy for course tracking control based on nonsingular terminal sliding mode to enable...
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...
In this article, a distributed cooperative path-maneuvering control approach is developed for the region-searching of multiple autonomous underwater vehicles under both dynamic uncertainties and ocean currents. Salient contributions are as follows: (...
In this study, we present a novel dual-loop robust trajectory tracking framework for autonomous underwater vehicles, with the objective of enhancing their performance in underwater searching tasks amidst oceanic disturbances. Initially, a real-world...
This paper mainly studies the improvement of the efficiency and out-of-domain reliability of gravity matching navigation for underwater vehicles. To overcome the traversal low-efficiency problem of the traditional terrain contour matching (TERCOM) al...
In this paper, a joint Matching Field Processing (MFP) Algorithm based on horizontal uniform circular array (UCA) is proposed for three-dimensional position of underwater wrecked targets. Firstly, a Marine search and rescue position model based on Mi...
We introduce an adaptive sampling method that has been developed to support the Backseat Driver control architecture of the Memorial University of Newfoundland (MUN) Explorer autonomous underwater vehicle (AUV). The design is based on an acoustic det...
Underwater target search and tracking has become a technical hotspot in underwater sensor networks (UWSNs). Unfortunately, the complex and changeable marine environment creates many obstacles for localization and tracking. This paper proposes an auto...
To address the problems of low efficiency and poor real-time performance in underwater acoustic modeling, as well as the requirement of maximizing search coverage for underwater target search path planning, this paper proposed an efficient path plann...
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...
In view of the poor adaptability and uneven coverage of static underwater wireless sensor networks (UWSNs) to environmental changes and the need for dynamic monitoring, a three-dimensional coverage method involving a dynamic UWSNs for marine ranching...
The advent of the swarm makes it feasible to dynamically monitor a wide area for maritime applications. The crucial problems of underwater swarm monitoring are communication and behavior coordination. To tackle these problems, we propose a wide area...
In this study, we improved the matching efficiency of underwater terrain matching navigation. Firstly, a new geodesic-based method was developed by combining the law of the shortest arc in spherical geometry with the theory of the attitude control in...
Autonomous underwater vehicle (AUV) path planning in complex marine environments meets many chanllenges, such as many influencing factors, complex models and the performance of the optimization algorithm to be improved. To find a path with minimum co...
Underwater wireless sensor networks (UWSNs) can provide a promising solution to underwater target tracking. Due to the limited computation and bandwidth resources, only a small part of nodes are selected to track the target at each interval. How to i...
Terrain aided navigation (TAN) technology can yield accurate navigation results in long-endurance underwater operation of autonomous underwater vehicles (AUVs). Most TAN research focus on the high-precision terrain matching algorithms. However, terra...
In a complex and dynamic battlefield environment, enabling autonomous underwater vehicles (AUVs) to reach dynamic targets in the shortest possible time using global autonomous planning is a key issue affecting the completion of search tasks. In this...
As important observational platforms for the Smart Ocean concept, autonomous underwater vehicles (AUVs) that perform long-term observation in fleets are beneficial because they provide large-scale sampling data with a sufficient spatiotemporal resolu...
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...
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 underwater acoustic cellular (UWAC) systems, underwater equipment or sensor nodes (UE/SN) should perform downlink synchronisation and a cell search during the initial access stage using the preambles received from adjacent underwater base stations...
A novel localization method based on multiple signal classification (MUSIC) algorithm is proposed for positioning an electric dipole source in a confined underwater environment by using electric dipole-receiving antenna array. In this method, the bou...
The Police Robot for Inspection and Mapping of Underwater Evidence (PRIME) is an uncrewed surface vehicle (USV) currently being developed for underwater search and recovery teams to assist in crime scene investigation. The USV maps underwater scenes...
Autonomous underwater vehicles (AUVs) have obtained extensive application in the exploitation of marine resources. Terrain-aided navigation (TAN), as an accurate and reliable autonomous navigation method, is commonly used for AUV navigation. However,...
In this paper we present an extension to the hybrid A* (HA*) path planner. This extension allows autonomous underwater vehicle (AUVs) to plan paths in 3-dimensional (3D) environments. The proposed approach enables the robot to operate in a safe manne...
Underwater visible light communication (UVLC) has recently come to light as a viable wireless carrier for signal transmission in risky, uncharted, and delicate aquatic environments like seas. Despite the potential of UVLC as a green, clean, and safe...
In mobile underwater acoustic (UWA) communications, the Doppler effect causes severe signal distortion, which leads to carrier frequency shift and compresses/broadens the signal length. This situation has a more severe impact on communication perform...
In many applications, including underwater robotics, the coverage problem requires an autonomous vehicle to systematically explore a defined area while minimizing redundancy and avoiding obstacles. This paper investigates coverage path-planning strat...
Division of labor in self-organized groups is a problem of both theoretical significance and application value. Many application problems in the real world require efficient task allocation. We propose a model combining bio-inspiration and evolutiona...
This paper presents results from the integration of a compact quantum magnetometer system and an agile underwater glider for magnetic survey. A highly maneuverable underwater glider, ROUGHIE, was customized to carry an increased payload and reduce th...
In the dynamic task allocation of unmanned underwater vehicles (UUVs), the schemes of UUVs need to be quickly reallocated to respond to emergencies. The most common heuristic allocation method uses predesigned optimization rules to iteratively obtain...
Robotics deployed in the underwater medium are subject to stringent operational conditions that impose a high degree of criticality on the allocation of resources and the schedule of operations in mission planning. In this context the so-called cost...
This article considers underwater sonar scans that utilize a sonar-equipped Autonomous Marine Ship (AMS). The AMS finds an underwater object by towing a tow fish, having active sonars for imaging the sea bottom. This paper tackles the autonomous gene...
Aiming to address the problem of regional dynamic target search under weak communication conditions, this paper proposes a UUV cluster search method based on cumulative probability optimization. First, by estimating the probability distribution of th...
The visual signal object detection technology of deep learning, as a high-precision perception technology, can be adopted in various image analysis applications, and it has important application prospects in the utilization and protection of marine b...
Thanks to the advent of new technologies and higher real-time computational capabilities, the use of unmanned vehicles in the marine domain has received a significant boost in the last decade. Ocean and seabed sampling, missions in dangerous areas, a...
The deployment of large remotely operated vehicles (ROVs) or autonomous underwater vehicles (AUVs) typically requires support vessels, crane systems, and specialized personnel, resulting in increased logistical complexity and operational costs. In th...
In order to effectively respond to floods and water emergencies that result in the drowning of missing persons, timely and effective search and rescue is a very critical step in underwater rescue. Due to the complex underwater environment and low vis...
A variety of mission equipment is mounted and utilized on UUVs (unmanned underwater vehicles) for the development of marine resources and underwater searching for military purposes. For exploration of a wide area, it is advantageous to use a towed un...
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...
Many recreational divers suffer medical conditions, potentially jeopardizing their safety. To scale down risks, medical examinations are mandatory and overwhelmingly performed using bicycle ergometry, which overlooks some important aspects of diving....
As the underwater environment is complex, the existence of obstacles will produce a certain collision interference to underwater robot operations, which causes the overall path planning and time costs to increase. In this paper, we propose a Tent cha...
It is of great significance to expand the functions of submarines by carrying underwater manipulators with a large working space. To suppress the flexible vibration of underwater manipulators, an improved sparrow search algorithm (ISSA) combining an...
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...
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