UACOF: A USV-AUV Collaboration Framework for Underwater Tasks Under Extreme Sea Conditions (Student Abstract)

Ocean exploration requires effective collaboration between the unmanned surface vehicle (USV) and autonomous underwater vehicles (AUVs). We propose UACOF, a USV-AUV collaboration framework that enhances multi-AUV performance under extreme sea conditions. The framework includes high-precision multi-AUV location via USV path planning with Fisher information matrix optimization and reinforcement learning training for cooperative tasks. Experimental results show UACOF's superior feasibility, performance, coordination and robustness in extreme conditions.

Authors

• Jingzehua Xu Massachusetts Institute of Technology
• Guanwen Xie Massachusetts Institute of Technology
• Yimian Ding Massachusetts Institute of Technology
• Yongming Zeng Zhejiang University
• Haoyu Wang State Key Laboratory of Multimedia Information Processing, School of Computer Science, Peking University Harbin Institute of Technology
• Shuai Zhang New Jersey Institute of Technology

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