Energy-optimal linear quadratic tracking control for unmanned underwater vehicles in offshore aquaculture fish net-pen visual inspection

Thein Than Tun, Loulin Huang, Mark Anthony Preece, Department of Mechanical Engineering, School of Engineering, Computer and Mathematical Sciences, Auckland University of Technology, New Zealand, Blue Economy Cooperative Research Centre, The New Zealand King Salmon Company, New Zealand

The International Journal of Robotics Research

Published online on June 18, 2026

Abstract

The International Journal of Robotics Research, Ahead of Print.
Unmanned underwater vehicles (UUVs) have been deployed for fish net-pen visual inspection (FNVI) in offshore aquaculture. Limited energy capacity of onboard power supplies constrains the UUV’s working range and operating time. To minimize the energy ...