Underwater glider fleet control and application: State of the art and future prospect

Underwater gliders (UGs), as efficient ocean observation platforms with long-endurance, are extensively utilized in ocean exploration. They have evolved into a crucial research frontier of cooperative observation network systems. However, the systematic review currently remains at the individual glider level, lacking a comprehensive fleet network to integrate these advancements. This study initially reviews recent literature on UG applications in the ocean and assesses the current research trajectory of UG fleet networks. The utilization of fleets is categorized into two main areas: ocean phenomena observation and targets detection. UG technologies emerged into coordination control, task allocation, path planning, and fleet communication are thoroughly evaluated. Subsequently, the shore-based control system is delineated, and the potential of networked formations is forecasted. The persistent challenges in this domain are pinpointed, offering guidance for future research avenues in UG fleet.