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Cooperative multi-robot routing for AUV–UAV inspection with inter-vehicle synchronization
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DOI：10.1016/j.oceaneng.2026.127392.png)
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Abstract
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• Development of a synchronized AUV–UAV routing algorithm for cooperative inspection missions with inter-vehicle monitoring constraints. • The proposed approach reduced mission makespan by 21.26% compared with the Greedy Nearest Task baseline. • The optimization framework improved task feasibility and workload balance by considering multiple alternatives for each task through exclusive variables to identify the best solution. • Inter-vehicle synchronization enabled effective UAV monitoring of AUV operations while maintaining mission coordination requirements. • The proposed method achieved these improvements with a maximum computational time of approximately 22 s and demonstrated robustness under positioning uncertainty.
Keywords:
Autonomous underwater vehicles
Unmanned aerial vehicles
Routing problem
Cooperative monitoring
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