A Cooperative Dynamic Task Assignment Framework for COTSBot AUVs

This article presents a cooperative dynamic task assignment framework for certain class of autonomous underwater vehicles (AUVs) employed to control the outbreak Crown-Of-Thorns Starfish (COTS) in Australia’s Great Barrier Reef. The problem monitoring and controlling COTS is transcribed into constrained which eradicating clusters COTS, by injection system COTSbot AUVs, considered as task. A probabilistic map operating environment, including seabed terrain, coastlines, constructed. Then, novel heuristic algorithm called fleet cooperation (HFC) developed provide AUVs maximum possible an assigned mission time. Extensive simulation studies together with quantitative performance analysis are conducted demonstrate effectiveness robustness proposed Note Practitioners —This research motivated (COTS), Reef, employing equipped arm. new evolutionary algorithm, (HFC), designed upon hierarchal priority evolution facilitate multivehicle problem. HFC able rapidly prototype multiple optimal solutions efficient grouping accomplishment tasks spread over large operation area.