Fault-Tolerant formation keeping design for Multi-AUVs in MOOS-IvP

this paper demonstrates the design of the MOOSIvP middleware for multi-AUVs to solve the fault-tolerant formation keeping problem efficiently. The problem introduced in this paper addresses a map reconfiguration approach for the occurrence of failure. A vehicle failure may be a propeller failure, communication failure, or other similar undesirable events. A simulated AUV’s failure was presented into the maritime environment in MOOS-IvP. Multiple AUVs sailed an area and discovered that one of them broke down. To complete its mission, the leader vehicle broadcasts new follower vehicles’ waypoint configuration according to the reconfiguration map algorithm. Upon broadcasting, the followers formed a stable formation to continue their mission. A final report was sent to the shoreside control station with the location of the broken AUV and the updated shape of the formation.