Framework for Robust Motion Planning of Tethered Multi-Robot Systems in Marine Environments

This paper introduces Coral Guide, a novel frame-work designed for path planning and trajectory optimization for tethered multi-robot systems. We focus on marine robotics, which commonly have tethered configurations of an Autonomous Surface Vehicle (ASV) and an Autonomous Underwater Vehicle (AUV). Coral Guide provides safe navigation in marine environments by enhancing the A* algorithm with specialized heuristics tailored for tethered ASV-AUV systems. Our method integrates catenary curve modelling for tether management and employs Bezier curve interpolation for smoother trajectory planning, ensuring efficient and synchronized operations without compromising safety. Through simulations and real-world experiments, we have validated Coral Guide's effectiveness in improving path planning and trajectory optimization, demonstrating its potential to signifi-cantly enhance operational capabilities in marine research and infrastructure inspection.