| Proj No. | A1067-251 |
| Title | Cooperative Underwater UUV Search for Unknown Targets |
| Summary | Unmanned Underwater Vehicles (UUVs) play a crucial role in underwater exploration, search-and-rescue missions, environmental monitoring, and military applications. In many scenarios, the exact location and characteristics of the target are unknown, requiring efficient and intelligent search strategies. Unlike single-agent exploration, cooperative search using multiple UUVs offers advantages in terms of coverage, efficiency, and robustness. The main challenge in cooperative UUV search lies in distributed decision-making, uncertainty handling, and adaptive coordination in a dynamic underwater environment. Effective search requires real-time perception, sensor fusion, and optimal path planning to locate unknown targets while minimizing energy consumption and communication constraints. This project mainly involves these two tasks: Problem: How to design a cooperative search strategy and path planning in an underwater environment with unknown obstacles and find the unknown target to minimize search time. Preliminaries: 1) Path planning algorithms, such as A*, RRT (Rapidly-exploring Random Tree), and the Artificial Potential Field method. 2) Distributed Optimization Theories, but not necessarily required. Programming language: Python is preferred. |
| Supervisor | Prof Su Rong (Loc:S1 > S1 B1B > S1 B1B 59, Ext: +65 67906042) |
| Co-Supervisor | - |
| RI Co-Supervisor | - |
| Lab | Centre for Advanced Robotics Technology Innovation (CARTIN) (Loc: S2.1-B3-01) |
| Single/Group: | Single |
| Area: | Intelligent Systems and Control Engineering |
| ISP/RI/SMP/SCP?: |