Communication in a Behavior-based Approach to Target Detection and Tracking with Autonomous Underwater Vehicles

In this paper, we address the challenging topic of target detection and tracking in underwater environments, proposing a behavior-based algorithm suitable for both fixed and moving targets. Taking into account the stringent constraints of the acoustic underwater channel, we apply this method to fleets of collaborative AUVs. The resulting control strategy is able to benefit from the behavior-based approach and the cooperation among robots. Results show that the performance of the algorithm can be improved by tuning the range of vehicles communication, meeting the tradeoff between energy consumption and behavior efficiency.