Underwater Docking

Underwater docking for autonomous underwater vehicles (AUVs) aims to enable extended operational durations by providing automated recharge and data transfer capabilities. Current research heavily emphasizes robust vision-based systems, employing deep learning architectures like convolutional neural networks and generative adversarial networks to overcome challenges posed by poor underwater visibility and dynamic environments. These advancements, often incorporating adaptive color markers and improved state estimation techniques using factor graphs, are crucial for enhancing the reliability and autonomy of AUVs in various scientific and commercial applications, such as oceanographic research and subsea infrastructure maintenance.