Fig. 8
From: Ubiquitous sensing of marine activities via the cooperation of autonomous underwater vehicles
Air-surface-underwater integration cross-domain monitoring system. UAVs perform aerial monitoring and provide wide surface coverage, while they also act as the relay nodes for data to the shore-based center. USVs conduct surface monitoring, while they relay the aerial and underwater data. AUVs perform underwater tasks such as harbor basin exploration through swarm collaboration. Accordingly, the control center integrates global information to optimize task planning and remote control.
