Multi-AUV-based Marine Survey for Advanced Underwater Exploration

This paper introduces a novel approach to marine surveys using multiple autonomous underwater vehicles (AUVs), developed and implemented by the National Maritime Research Institute of Japan. By leveraging the collective capabilities of multiple AUVs, this methodology enables highly efficient, high-resolution seafloor surveys with exceptional reliability. Key innovations include advanced multi-vehicle coordination techniques for real-time position adjustment, significantly enhancing the quality of acoustic bottom surveys. These techniques are integrated into an on-site adaptive motion planning framework, which dynamically responds to the changing conditions of multi-AUV operations. Another notable feature is the simplicity of the approach, ensuring ease of use across various AUV systems and user applications. Additionally, the paper explores state-of-the-art advancements in underwater docking and on-site data transfer by multiple AUVs, paving the way for reliable, long-term underwater exploration. These innovations collectively establish a foundation for advancing marine survey capabilities in diverse underwater environments.