Selected Projects

We propose a highly efficient GPU-accelerated 4D path planning framework for Autonomous Underwater Gliders (AUGs) operating in complex, time-varying ocean currents. To overcome the curse of dimensionality inherent in long-range missions, we introduce a fixed-dimensional B-spline trajectory encoding. Dynamic feasibility is strictly verified through RK4 integration, while continuous-domain collision safety over complex seabed topography is guaranteed using an ESDF-based Sphere Tracing strategy, eliminating the tunneling effect seen in traditional discrete sampling.

To tackle the highly multimodal search landscape induced by ocean currents and terrain, we develop a novel optimizer named MadDE-NDA (Niching Dual-Archive). It features dual cooperative archives to balance quality retention and diversity preservation, coupled with a stagnation-triggered niching mechanism. Accelerated by massive GPU parallelism for population-level evaluation, the framework demonstrates superior safety, efficiency, and robustness in realistic simulations utilizing high-resolution GEBCO bathymetry and CMEMS spatiotemporal ocean currents.