Simultaneous wide area scan purpose AUV with tethered multi-agent (SWAN)

Abstract

Underwater observation is important technology for marine research. However, limited visibility of sea water, it takes long time to collect wide images and data. In this paper, we propose novel underwater observation system named SWAN. SWAN is multi-agent system composed of the main AUV and agents. The agents are linked by tethers with the main AUV. It enables that the main AUV could track the agents. From this position keeping technology, SWAN could gather mosaicing images quickly and efficiently.