Simulating Cooperative Operations of Swarms of Autonomous Underwater Vehicles

Abstract

Autonomous underwater vehicles (AUVs) are well suited to perform underwater operations that are too dangerous or inaccessible for humans. Since the power supply of AUVs is limited, communications must be highly energy efficient and the power constraints must be known in order to plan the AUVs' mission. Due to the difficulties, costs, and hazards of real experiments, simulations with appropriate models are essential to plan, test, and optimize AUV swarm missions. Our research aims to provide simulation models that enable cooperative missions of heterogeneous AUVs, such as monitoring and protection of maritime infrastructures for inspection and control purposes. Enabling mission planning for a swarm of heterogeneous AUVs represents an innovation that combines advances in robotics, artificial intelligence, data management, and communications. These innovations enhance the capabilities of AUVs, making them more efficient, adaptable, and capable of working together to accomplish complex underwater missions, ultimately expanding the opportunities for underwater exploration and research.