Distributed vector optimization design for multi-AUV systems

This paper proposes a distributed controller to optimize a sum of state-dependent vector objective functions for multi-Autonomous Underwater Vehicle (AUV) systems. In particular, each AUV has a local private objective and can only interact with its neighboring AUVs, which are described by undirected graphs, to measure relative states. Using 6 degree of freedom (DOF) AUV equations of motions, we design a distributed controller by integrating both the consensus and optimization algorithms to the dynamics of AUVs. If the undirected communication graph is connected, we adopt a Lyapunov functional candidate to show that each AUV eventually approaches the same optimal position with a desired attitude. Moreover, simulations with the Remote Environmental Measuring UnitS (REMUS) AUVs for source-seeking tasks are included to illustrate the effectiveness of the proposed controller.