Multi-AUV Coverage with Functional Constraints and Currents

Many underwater survey applications such as bathymetry archaeological, mine-counter-measure surveys, etc., can be efficiently performed using autonomous underwater vehicles (AUVs). In all the mentioned survey applications, a region of interest needs to be covered using some sensors. Low cost AUVs have shown promise to perform these applications quickly and with relatively low mission cost. However, these AUVs are affected by the currents present in the region. Currents can help (resp. hinder) in propelling the AUV saving (resp. expending) time and energy and also can hinder with increased endurance cost. During such a process, the results mission time may be reduced significantly affecting the complete mission. If this issue is discovered after deployment then the cost of the mission increases. Additionally, certain areas may need a AUV with specific sensor to visit. For example, AUVs using 3D imaging sonar to map a particular area of interest (archaeology). We term such a constrain as a functional constraint. Further, the total mission time can be reduced significantly by introducing multiple AUVs. Therefore, there is a need develop mission path planners that take current information into account and the functional constraints for multi-AUV deployment.