Cooperative search with autonomous vehicles in a 3D aquatic testbed

We consider the problem of cooperative search using autonomous aquatic vehicles, giving a proof-of-concept demonstration in an aquatic testbed. We implement a point-to-point controller for remote-controlled submarines with severe control and buoyancy limitations, develop software to track their motion and establish reliable communication and control. We then propose multiple randomized algorithms, based on Lévy flights, for locating sparse targets in a three-dimensional bounded environment. These algorithms are tested in simulation, showing that they are competitive with nonrandom systematic search, while likely also more robust. The simulations are combined with in-tank tests to display performance under real physical conditions.