Autonomous Trajectory Design System for Mapping of Unknown Sea-floors using a team of AUVs

@article{Salavasidis2018AutonomousTD,
  title={Autonomous Trajectory Design System for Mapping of Unknown Sea-floors using a team of AUVs},
  author={Georgios Salavasidis and Athanasios Ch. Kapoutsis and Savvas A. Chatzichristofis and Panagiotis Michailidis and Elias B. Kosmatopoulos},
  journal={2018 European Control Conference (ECC)},
  year={2018},
  pages={1080-1087}
}
This research develops a new on-line trajectory planning algorithm for a team of Autonomous Underwater Vehicles (AUVs). The goal of the AUVs is to cooperatively explore and map the ocean seafloor. As the morphology of the seabed is unknown and complex, standard non-convex algorithms perform insufficiently. To tackle this, a new simulation-based approach is proposed and numerically evaluated. This approach adapts the Parametrized Cognitive-based Adaptive Optimization (PCAO) algorithm. The… CONTINUE READING

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