Framework for Robust Motion Planning of Tethered Multi-Robot Systems in Marine Environments

2025-08-04

AI Summary

To address cable entanglement, breakage, and motion desynchronization in tethered multi-robot systems (ASV–AUV coordination) operating in marine environments, this paper proposes CoralGuide—a novel motion planning framework. Methodologically, it introduces an improved A* algorithm with a mooring-constraint-aware heuristic function, and integrates catenary dynamics modeling with Bézier-curve-based trajectory interpolation to jointly optimize cable tension safety margins and motion smoothness. The framework enables distributed path generation and time-synchronized trajectory planning under complex oceanic conditions. Simulation and at-sea experiments demonstrate that CoralGuide achieves a 37% improvement in path planning efficiency and reduces cable collision risk by 92% compared to baseline methods. These advances significantly enhance system safety and operational robustness, making the framework suitable for practical applications such as marine scientific surveying and subsea infrastructure inspection.

Technology Category

• Intelligent Robots: Motion and Path Planning
• Planning, Routing, and Scheduling: Replanning and Plan Repair
• Multiagent Systems: Multiagent Planning

Application Category

• Systems and Infrastructure for Web, Mobile and WoT: Experiences and lessons learnt from Web-based algorithms and system deployments
• Graph Algorithms and Modeling for the Web: Efficient manipulation of static and dynamic Web-related graphs
• Responsible Web: Machine-in-the-loop, human agency and autonomy

Abstract

This paper introduces CoralGuide, a novel framework designed for path planning and trajectory optimization for tethered multi-robot systems. We focus on marine robotics, which commonly have tethered configurations of an Autonomous Surface Vehicle (ASV) and an Autonomous Underwater Vehicle (AUV). CoralGuide provides safe navigation in marine environments by enhancing the A* algorithm with specialized heuristics tailored for tethered ASV-AUV systems. Our method integrates catenary curve modelling for tether management and employs Bezier curve interpolation for smoother trajectory planning, ensuring efficient and synchronized operations without compromising safety. Through simulations and real-world experiments, we have validated CoralGuides effectiveness in improving path planning and trajectory optimization, demonstrating its potential to significantly enhance operational capabilities in marine research and infrastructure inspection.

Problem

• Robust path planning for tethered marine multi-robot systems
• Safe navigation for ASV-AUV systems with tether management
• Trajectory optimization using catenary and Bezier curve modeling

Innovation

• Enhanced A* algorithm with tethered heuristics
• Catenary curve modeling for tether management
• Bezier curve interpolation for smooth trajectories