Never too Cocky to Cooperate: An FIM and RL-based USV-AUV Collaborative System for Underwater Tasks in Extreme Sea Conditions

摘要

This paper develops a novel unmanned surface vehicle (USV)-autonomous underwater vehicle (AUV) collaborative system designed to enhance underwater task performance in extreme sea conditions. The system integrates a dual strategy: (1) high-precision multi-AUV localization enabled by Fisher information matrix-optimized USV path planning, and (2) reinforcement learning-based cooperative planning and control method for multi-AUV task execution. Extensive experimental evaluations in the underwater data collection task demonstrate the system's operational feasibility, with quantitative results showing significant performance improvements over baseline methods. The proposed system exhibits robust coordination capabilities between USV and AUVs while maintaining stability in extreme sea conditions. To facilitate reproducibility and community advancement, we provide an open-source simulation toolkit available at: https://github.com/360ZMEM/USV-AUV-colab .