Distributed constraint optimization for autonomous multi AUV mine counter-measures

Jeroen Fransman, Joris Sijs, Henry Dol, Erik Theunissen, Bart De Schutter

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

1 Citation (Scopus)


In this paper, Mine Counter-Measures (MCM) operations with multiple cooperative Autonomous Underwater Vehicles (AUVs) are examined within the Distributed Constraint optimization Problem (DCOP) framework. The goal of an MCM-operation is to search for mines and mine-like objects within a predetermined area so that ships can pass the area through a safe transit corridor. Performance metrics, such as the expected time of completion and the level of confidence that all mine-like objects within the area have been detected, are used to quantity the utility of the operation. The AUVs coordinate their individual search segments in a distributed manner in order to maximize the global utility. The segmentation is optimized by the Compression-DPOP (C-DPOP) algorithm, which allows explicit reasoning by the AUVs about their actions based on the performance metrics. After initial segmentation of the mine threat area, subsequent optimizations are triggered by the AUVs based on the variations in sonar performance. The performance of the C-DPOP algorithm is compared to a static segmentation approach and validated using the high-fidelity Unmanned Underwater Vehicle (UUV) simulation environment based on the Gazebo simulator
Original languageEnglish
Title of host publicationProceedings OCEANS 2018 MTS/IEEE Charleston
EditorsJeff Payne, John Flynn
Place of PublicationPiscataway, NJ, USA
Number of pages7
ISBN (Print)978-1-5386-4814-8
Publication statusPublished - 2018
EventOCEANS 2018 MTS/IEEE Charleston - Charleston, United States
Duration: 22 Oct 201825 Oct 2018


ConferenceOCEANS 2018 MTS/IEEE Charleston
Country/TerritoryUnited States


  • C-DPOP
  • AUV
  • DCOP
  • Gazebo
  • MCM
  • mine counter-measures
  • underwater search
  • UUV-simulator


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