Funding information National Science Foundation, Grant/Award Number: 1460153 Abstract This paper presents coupled and decoupled multi‐autonomous underwater vehicle (AUV) motion planning approaches for maximizing information gain. The work is motivated by applications in which multiple AUVs are tasked with obtaining video footage for the photogrammetric reconstruction of underwater archeological sites. Each AUV is equipped with a video camera and side‐scan sonar. The side‐scan sonar is used to initially collect low‐resolution data to construct an information map of the site. Coupled and decoupled motion planning approaches with respect to this map are presented. Both planning methods seek to generate multi‐AUV trajectories that capture close‐up video footage of a site from a variety of different viewpoints, building on prior work in single‐AUV rapidly exploring random tree (RRT) motion planning. The coupled and decoupled planners are compared in simulation. In addition, the multiple AUV trajectories constructed by each planner were executed at archeological sites located off the coast of Malta, albeit by a single‐AUV due to limited resources. Specifically, each AUV trajectory for a plan was executed in sequence instead of simultaneously. Modifications are also made by both planners to a baseline RRT algorithm. The results of the paper present a number of trade‐offs between the two planning approaches and demonstrate a large improvement in map coverage efficiency and runtime.

中文翻译：

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用于考古遗址测绘和摄影测量重建的多 AUV 运动规划

资金信息 美国国家科学基金会，资助/奖励编号：1460153 摘要 本文介绍了用于最大化信息增益的耦合和解耦多自主水下航行器 (AUV) 运动规划方法。这项工作的动机是多个 AUV 的任务是获取用于水下考古遗址摄影测量重建的视频片段。每个 AUV 都配备了摄像机和侧扫声纳。侧扫声纳用于初步收集低分辨率数据以构建站点的信息图。介绍了关于该地图的耦合和解耦运动规划方法。两种规划方法都试图生成多 AUV 轨迹，从各种不同的角度捕捉站点的特写视频片段，建立在单 AUV 快速探索随机树 (RRT) 运动规划的先前工作的基础上。在仿真中比较耦合和解耦规划器。此外，每个规划者构建的多个 AUV 轨迹是在位于马耳他海岸附近的考古遗址执行的，尽管由于资源有限而由单个 AUV 执行。具体来说，计划的每个 AUV 轨迹都是按顺序执行的，而不是同时执行的。两个规划者也对基线 RRT 算法进行了修改。该论文的结果展示了两种规划方法之间的许多权衡，并证明了地图覆盖效率和运行时间的大幅改进。由每个规划者构建的多个 AUV 轨迹是在位于马耳他海岸附近的考古遗址执行的，尽管由于资源有限而由单个 AUV 执行。具体来说，计划的每个 AUV 轨迹都是按顺序执行的，而不是同时执行的。两个规划者也对基线 RRT 算法进行了修改。该论文的结果展示了两种规划方法之间的许多权衡，并证明了地图覆盖效率和运行时间的大幅改进。由每个规划者构建的多个 AUV 轨迹是在位于马耳他海岸附近的考古遗址执行的，尽管由于资源有限而由单个 AUV 执行。具体来说，计划的每个 AUV 轨迹都是按顺序执行的，而不是同时执行的。两个规划者也对基线 RRT 算法进行了修改。该论文的结果展示了两种规划方法之间的许多权衡，并证明了地图覆盖效率和运行时间的大幅改进。