Multiobjective Risk-Aware Path Planning in Uncertain Transient Currents: An Ensemble-Based Stochastic Optimization Approach

A multiobjective, risk-aware framework is developed for optimal path planning of autonomous underwater vehicles operating in uncertain current. The uncertainty the current described terms a finite ensemble flow realizations. new optimization proposed that accounts full variability single problem whose solution may not necessarily coincide with any deterministic paths corresponding to individual members. We formulate stochastic problemsthat aim minimize risk measure travel time or energy consumption, using flexible methodology enables user seamlessly explore various objectives, ranging from neutral averse. illustrate application approach two case studies based on synthetic 2-D settings, and one involving real-world Gulf Aden. results are analyzed assess value solution, guide selection suitable measures, demonstrate impact measures resulting distribution times.