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This paper addresses the computational challenge of scheduling large fleets of Marine Autonomous Vehicles (MAVs) using a mixed-integer linear programming model. By integrating conventional ship itineraries and optimizing for battery constraints, the framework significantly reduces planning time while maximizing data collection efficiency. The approach offers a scalable simulation tool for evaluating deployment strategies in complex oceanographic environments.
Marine Autonomous Vehicle Fleet Scheduling to Maximise Scientific Impact
arXiv:2608.27271v1 Announce Type: cross Abstract: The marine science community increasingly relies on Marine Autonomous Vehicles (MAVs) to collect the critical environmental data required to understand global ocean systems. However, as these operations scale, manually routing and planning large autonomous fleets becomes exponentially complex and time-consuming. To address this, we propose a mixed-integer linear programming (MILP) model designed to automate and optimise MAV deployment schedules. The model accounts for strict operational constraints, including battery capacities and time windows for data collection, while aiming to maximise total data collection and minimise both the number of deployed vehicles and their energy consumption. A key novelty of this framework is integrating conventional ship itineraries, allowing MAVs to support vessels with mid-mission battery swapping or accelerated transit between waypoints. Computational experiments demonstrate that the model is highly scalable, solving routing problems for fleets of dozens of MAVs in seconds, and scaling to hundreds of vehicles in only a few minutes. Beyond operational scheduling, the framework serves as a robust simulation tool for evaluating 'what-if' scenarios and analysing the impact of varying parameters on deployment strategies. Finally, the solution generates a suite of visualisations designed to enhance explainability and support strategic decision-making for stakeholders.
Abstract:The marine science community increasingly relies on Marine Autonomous Vehicles (MAVs) to collect the critical environmental data required to understand global ocean systems. However, as these operations scale, manually routing and planning large autonomous fleets becomes exponentially complex and time-consuming. To address this, we propose a mixed-integer linear programming (MILP) model designed to automate and optimise MAV deployment schedules. The model accounts for strict operational constraints, including battery capacities and time windows for data collection, while aiming to maximise total data collection and minimise both the number of deployed vehicles and their energy consumption. A key novelty of this framework is integrating conventional ship itineraries, allowing MAVs to support vessels with mid-mission battery swapping or accelerated transit between waypoints. Computational experiments demonstrate that the model is highly scalable, solving routing problems for fleets of dozens of MAVs in seconds, and scaling to hundreds of vehicles in only a few minutes. Beyond operational scheduling, the framework serves as a robust simulation tool for evaluating 'what-if' scenarios and analysing the impact of varying parameters on deployment strategies. Finally, the solution generates a suite of visualisations designed to enhance explainability and support strategic decision-making for stakeholders.
Optimization and Control (math.OC); Robotics (cs.RO)
arXiv:2608.27271 [math.OC]
(or arXiv:2608.27271v1 [math.OC] for this version)
https://doi.org/10.48550/arXiv.2608.27271 Focus to learn more arXiv-issued DOI via DataCite (pending registration)
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