Maritime operations incorporating multiple autonomous underwater vehicles (AUVs) pose serious challenges for human-robot cooperation due to environmental unpredictability and the complexity of handling multiple vehicles. This paper presents a novel modular and composable autonomy framework that improves human-AUV collaboration for marine missions such as multi-robot hull inspection. The structure employs a layered multi-agent system in which a supervisory agent, utilizing Large Language Models (LLMs), interprets operator commands, while separate LLM-driven robotic agents handle AUVs, negotiate task distributions, and oversee robot status. This advanced reasoning combines with Deep Reinforcement Learning (DRL) strategies for vehicle control (e.g., navigation, maintaining shared autonomy formation). Validation has been done via simulated ship hull inspection scenarios to demonstrate the framework's essential capabilities. The framework design, featuring collaborative target-tracking principles, seeks to lessen operator cognitive burden, enhance situational awareness, and facilitate adaptive mission operations in complex multi-AUV maritime systems.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Composable and Modular Autonomy for Maritime Robotics: Bridging Human-Robot Collaboration



    Published in:

    Publication date :

    2025-06-16


    Size :

    1220144 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Mobile manipulators as robot co-workers: autonomy and interaction in the human-robot collaboration

    Rosell Gratacòs, Jan / Nuño, Emmanuel / Claret, Josep A. et al. | BASE | 2017

    Free access

    Advances in Space Robotics Autonomy

    Vasile, Massimiliano / Becerra, Victor M. / Trebi-Ollennu, Ashitey et al. | AIAA | 2014


    Teleoperation and autonomy for space robotics

    Lumia, R. / Albus, J.S. | Tema Archive | 1988


    Space Robotics Technologies: Perception for Autonomy

    Yan, Xiu Tian / Gancet, Jeremi / Govindaraj, Shashank et al. | Springer Verlag | 2024


    A Hands-On Platform for Learning Human-Robot Collaboration Using Gesture-Controlled Robotics

    Crivellari, Francesco / Cornagliotto, Valerio / Polito, Michele et al. | Springer Verlag | 2025