Adaptive Cooperative Algorithms for AUV Networks

Abstract

This paper presents two novel cooperative adaptive algorithms for the management of autonomous underwater vehicles (AUV) as mobile nodes of an ad- hoc underwater network. The proposed approaches are distributed and take explicitly into account the communication constraints among the agents. The overall mission goal for the AUV team is to defend an asset using detection sonars while maintaining the communication connectivity for the whole mission duration, even when environmental changes affect the vehicle devices.