Advances in autonomous systems, maritime communications, and sensing technologies lead to increasing applications of unmanned underwater vehicles (UUVs). In this paper, we study a maritime survey operation topology design problem with UUVs that traverse an ocean environment and collect data from prespecified sensors or locations. This maritime scenario is analyzed via several models and simulation for the purpose of topology design for mission planning. We use a multifidelity approach to examine the trade-offs between different potential topology configurations of assigning UUVs to data collection sensors or locations. We develop three low-fidelity models that make simplifying assumptions. These models provide insight into the design characteristics and allow for sensitivity analysis with low computational cost. They are used to down-select potential configuration designs for further evaluation using a high-fidelity simulation model. A high-fidelity simulation model removes many simplifying assumptions and predicts how a topology design would perform under more realistic conditions. It gathers detailed performance metrics at the expense of higher computational cost. Our study uses this multifidelity approach to demonstrate key trade-offs for topology design. The optimal design of UUVs depends on mission-specific goals.

中文翻译：

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UUV 海上测量作业的多保真拓扑设计

自主系统、海上通信和传感技术的进步导致无人水下航行器 (UUV) 的应用不断增加。在本文中，我们研究了 UUV 的海上测量操作拓扑设计问题，该 UUV 穿越海洋环境并从预先指定的传感器或位置收集数据。通过多个模型和仿真来分析该海上场景，以便进行任务规划的拓扑设计。我们使用多保真度方法来检查将 UUV 分配给数据收集传感器或位置的不同潜在拓扑配置之间的权衡。我们开发了三个低保真模型来简化假设。这些模型提供了对设计特征的深入了解，并允许以较低的计算成本进行敏感性分析。它们用于向下选择潜在的配置设计，以便使用高保真仿真模型进行进一步评估。高保真仿真模型消除了许多简化假设，并预测拓扑设计在更现实的条件下如何执行。它以更高的计算成本为代价收集详细的性能指标。我们的研究使用这种多保真方法来演示拓扑设计的关键权衡。 UUV 的优化设计取决于特定任务的目标。