Main Catalog Informatics, Computer Engineering and Control Information Technology. Computer techologies. Theory of computers and systems

Classification of methods for managing a group of autonomous uninhabited vehicles

Authors: Alferova I.V.
Published in issue: #6(101)/2025
DOI:
Category: Informatics, Computer Engineering and Control \| Chapter: Information Technology. Computer techologies. Theory of computers and systems
Keywords: navigation, autonomous uninhabited underwater vehicle, architecture of a multi-agent control system, acoustic positioning
Published: 19.12.2025

An overview of existing methods for managing a group of AUVs has been conducted. The specifics of underwater navigation have been studied. Requirements for a group of AUVs that the system must meet to accomplish the set tasks have been formulated. An analysis of various architectures of multi-agent systems has been carried out. A criterion for classifying methods for managing a group of AUVs has been identified — management protocols. According to this criterion, existing methods have been categorized into three categories: centralized coordinating form of management, decentralized, and hybrid. The advantages and disadvantages of each have been named. Methods using a decentralized form of management have, in turn, also been classified into several subgroups: “leader-following” structure; virtual structure; approaches based on behavior; approaches based on artificial potential field, and others. A comparative analysis of the methods under consideration has been conducted. It is concluded that the choice of the architecture used depends on the specific task conditions, as each method has advantages that can be used to solve specific tasks.

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