Robust path planning and trajectory optimization framework for tethered ASV-AUV

This paper introduces a novel framework for path planning and trajectory optimization for a tethered multi-robot system consisting of an Autonomous Surface Vehicle (ASV) and an Autonomous Underwater Vehicle (AUV). The framework addresses the challenges of coordinating and navigating these robots, including the dynamic behavior of the tether within the robot team and environmental obstacles. The findings hold promise for future research and practical deployments in areas requiring precise coordination and movement, such as underwater inspection and maintenance.