Learning-Based Path Planning Algorithm in Ocean Currents for Multi-Glider

Figure 10

The UGs formation path planning on128 128 time-varying ocean maps and the formation shape of UGs in different cycles. (a) State S. (b) Formation Shape in S. (c) State A. (d) Formation Shape in A. (e) State B. (f) Formation Shape in B. (g) State T. (h) Formation Shape in T.

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