Task Allocation and Path Planning for Collaborative Autonomous Underwater Vehicles Operating through an Underwater Acoustic Network

Figure 10

Four executions of the same mission using 4 targets, 2 classify vehicles, and LAAF when acoustic communication is unreliable.

(a) Trajectories for search-classify mission

(b) Trajectories for search-classify mission

(c) Trajectories for search-classify mission

(d) Trajectories for search-classify mission