A Task Allocation Method for Multi-AUV Search and Rescue with Possible Target Area

Task allocation is crucial for autonomous underwater vehicle (AUV) collaboration in multi-AUV maritime search and rescue missions. In real projects, there are possible target areas existing task areas, which not expected to be divided. Motivated by such a special situation, this paper proposes an area partitioning method allocate the multiple AUVs maintain as whole. First, spatial structure of defined spiked Morse decomposition, divides according set angles. Then, we perform variational transformation determine optimal angles using AUV order. Next, customized backtracking introduced order among without disturbing areas. The proposed methodology validated under various challenging scenarios different number AUVs. empirical results show that divided workload variance were superior comparison methods. This indicates can generate stable solutions effectively reduce segmentation keep balanced.