Nauplius Optimisation for Autonomous Hydrodynamics

• URL: http://arxiv.org/abs/2510.15350v1
• Date: Fri, 17 Oct 2025 06:30:19 GMT
• Title: Nauplius Optimisation for Autonomous Hydrodynamics
• Abstract summary: NOAH is a novel nature-inspired swarm optimisation algorithm.<n>It combines current-aware drift, irreversible settlement in persistent sensing nodes, and colony-based communication.<n> validation studies demonstrate an 86% success rate for permanent anchoring scenarios.
• Score: 0.0
• License: http://creativecommons.org/licenses/by/4.0/
• Abstract: Autonomous Underwater vehicles must operate in strong currents, limited acoustic bandwidth, and persistent sensing requirements where conventional swarm optimisation methods are unreliable. This paper presents NOAH, a novel nature-inspired swarm optimisation algorithm that combines current-aware drift, irreversible settlement in persistent sensing nodes, and colony-based communication. Drawing inspiration from the behaviour of barnacle nauplii, NOAH addresses the critical limitations of existing swarm algorithms by providing hydrodynamic awareness, irreversible anchoring mechanisms, and colony-based communication capabilities essential for underwater exploration missions. The algorithm establishes a comprehensive foundation for scalable and energy-efficient underwater swarm robotics with validated performance analysis. Validation studies demonstrate an 86% success rate for permanent anchoring scenarios, providing a unified formulation for hydrodynamic constraints and irreversible settlement behaviours with an empirical study under flow.

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