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<p>Search and rescue (SAR) operations in aquatic environments demand rapid and precise maneuvering of Autonomous Underwater Vehicles (AUV) to ensure timely intervention. Conventional control strategies often exhibit asymptotic convergence, leading to slower response times, which can be critical in emergency scenarios. To address this, we propose a finite-time control framework for AUV evolving on the Special Euclidean group SE(3). The proposed control law is Hölder-continuous and ensures finite time, almost global convergence of system states to the desired equilibrium. This rapid convergence property enhances the responsiveness and stability of AUVs in dynamic SAR missions. Simulation-based validation demonstrates improved control performance, reinforcing the efficacy of the proposed approach for real-time underwater rescue applications.</p>

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Search and rescue mission in finite time for autonomous underwater vehicles evolving on SE(3)

  • 期刊论文

  • 发表日期：

    2025年10月17日

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  • B. Anil,
  • Sneha Gajbhiye

摘要

Search and rescue (SAR) operations in aquatic environments demand rapid and precise maneuvering of Autonomous Underwater Vehicles (AUV) to ensure timely intervention. Conventional control strategies often exhibit asymptotic convergence, leading to slower response times, which can be critical in emergency scenarios. To address this, we propose a finite-time control framework for AUV evolving on the Special Euclidean group SE(3). The proposed control law is Hölder-continuous and ensures finite time, almost global convergence of system states to the desired equilibrium. This rapid convergence property enhances the responsiveness and stability of AUVs in dynamic SAR missions. Simulation-based validation demonstrates improved control performance, reinforcing the efficacy of the proposed approach for real-time underwater rescue applications.