A decentralized planning algorithm considering tack spatial configuration for a group of AUVs

One of essential factors in mission planning for an AUV group is mission running time. This paper addresses decentralized techniques, which can be used in order to minimize mission running time under uncertainty such as a change in the list of group members. The major contribution of this paper is decentralization of a previously developed mathematical model (a “version model”), intended for centralized approach. A modified auction scheme is compared to a pairwise exchange scheme, allowing both initial task distribution and plan modification.