Hierarchical Multi-Modal Planning for Fixed-Altitude Sparse Target Search and Sampling

• URL: http://arxiv.org/abs/2603.08336v1
• Date: Mon, 09 Mar 2026 12:53:04 GMT
• Title: Hierarchical Multi-Modal Planning for Fixed-Altitude Sparse Target Search and Sampling
• Abstract summary: HIMoS is a fixed-altitude framework for sparse coral search-and-sample missions.<n>System integrates a heterogeneous sensor suite within a two-layer planning architecture.
• Score: 8.90200464018944
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Efficient monitoring of sparse benthic phenomena, such as coral colonies, presents a great challenge for Autonomous Underwater Vehicles. Traditional exhaustive coverage strategies are energy-inefficient, while recent adaptive sampling approaches rely on costly vertical maneuvers. To address these limitations, we propose HIMoS (Hierarchical Informative Multi-Modal Search), a fixed-altitude framework for sparse coral search-and-sample missions. The system integrates a heterogeneous sensor suite within a two-layer planning architecture. At the strategic level, a Global Planner optimizes topological routes to maximize potential discovery. At the tactical level, a receding-horizon Local Planner leverages differentiable belief propagation to generate kinematically feasible trajectories that balance acoustic substrate exploration, visual coral search, and close-range sampling. Validated in high-fidelity simulations derived from real-world coral reef benthic surveys, our approach demonstrates superior mission efficiency compared to state-of-the-art baselines.

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