Environment-Aware AUV Trajectory Design and Resource Management for Multi-Tier Underwater Computing

Xiangwang Hou, Jingjing Wang*, Tong Bai, Yansha Deng, Yong Ren, Lajos Hanzo

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

22 Citations (Scopus)


The Internet of underwater things (IoUT) is envisioned to be an essential part of maritime activities. Given the IoUT devices' wide-area distribution and constrained transmit power, autonomous underwater vehicles (AUVs) have been widely adopted for collecting and forwarding the data sensed by IoUT devices to the surface-stations. In order to accommodate the diverse requirements of IoUT applications, it is imperative to conceive a multi-tier underwater computing (MTUC) framework by carefully harnessing both the computing and the communications as well as the storage resources of both the surface-station and of the AUVs as well as of the IoUT devices. Furthermore, to meet the stringent energy constraints of the IoUT devices and to reduce the operating cost of the MTUC framework, a joint environment-aware AUV trajectory design and resource management problem is formulated, which is a high-dimensional NP-hard problem. To tackle this challenge, we first transform the problem into a Markov decision process (MDP) and solve it with the aid of the asynchronous advantage actor-critic (A3C) algorithm. Our simulation results demonstrate the superiority of our scheme.

Original languageEnglish
Pages (from-to)474-490
Number of pages17
JournalIEEE Journal on Selected Areas in Communications
Issue number2
Publication statusPublished - 1 Feb 2023


  • asynchronous advantage actor-critic (A3C)
  • autonomous underwater vehicles (AUV)
  • internet of underwater things (IoUT)
  • Multi-tier computing
  • resource allocation
  • trajectory optimization


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