Multimodal underwater transformable agent for efficient marine transportation in dynamic spatiotemporal environments
Lei, L.; Wei, P.; Xu, X.; Zhang, J.; Zhang, G. (2025). Multimodal underwater transformable agent for efficient marine transportation in dynamic spatiotemporal environments. Ieee Transactions on Intelligent Transportation Systems Early view: 1-13. https://dx.doi.org/10.1109/tits.2025.3601716
In: Ieee Transactions on Intelligent Transportation Systems. IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC: Piscataway. ISSN 1524-9050; e-ISSN 1558-0016, more
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| Author keywords |
Underwater transportation, energy efficiency, bionic design, spatiotemporal perception, multimodal dynamics, marine logistics. |
| Abstract |
Marine intelligent transportation systems (M-ITS) face challenges in achieving adaptability and efficiency under dynamic spatiotemporal (ST) environments. This paper proposes a novel multimodal underwater transformable agent (MUTA) designed as an adaptive and efficient information node for M-ITS. The MUTA integrates a biomimetic morphing wing, multi-drive propulsion system, incremental environmental perception, and an uncertainty-aware dynamic modeling framework to switch smoothly among long-range (LR) cruising, high-maneuverability (HM) operation, and synergy modes. Comprehensive lake and sea trials demonstrate that the MUTA maintains high motion precision and achieves significant energy efficiency improvements, reaching depths up to 1200 m and covering a range of over 3000km. The MUTA has achieved over 17% efficiency gain in lake and marine environments. This work provides an adaptive and efficient solution for M-ITS under uncertain marine conditions. |
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