System-Level Optimization of AUV Swarm Control and Perception: An Energy-Aware Federated Meta-Transfer Learning Framework with Digital Twin Validation

Abstract

Deep-sea exploration increasingly relies on Autonomous Underwater Vehicles (AUVs) to enable persistent, wide-area surveying in harsh and uncertain environments. In practice, however, deployments are constrained by tight energy budgets and bandwidth-limited, intermittent acoustic links, which complicate mission-level coordination. Moreover, many existing systems treat perception and control as loosely coupled modules, often resulting in redundant sensing, inefficient communication, and degraded overall performance—particularly under heterogeneous sensing modalities and shifting geological conditions. To address these challenges, we propose a hierarchical Federated Meta-Transfer Learning (FMTL) framework that tightly integrates collaborative perception with adaptive control for swarm optimization. The framework operates at three levels: (1) Representation Learning aligns heterogeneous sensors in a shared latent space via a physics-informed contrastive objective, substantially reducing communication overhead; (2) Meta-Learning Adaptation enables rapid transfer and convergence in new environments with minimal data exchange; and (3) Energy-Aware Control realizes closed-loop exploration by coupling Federated Explainable AI (FXAI) with decentralized multi-agent reinforcement learning (MARL) for path planning under energy constraints. Validated in high-fidelity hardware-in-the-loop simulations and a digital-twin environment, FMTL outperforms state-of-the-art baselines, achieving an AUC of 0.94 for target identification. Furthermore, an energy–intelligence Pareto analysis demonstrates a 4.5× improvement in information gain per Joule. Overall, this work provides a physically consistent and communication-efficient blueprint for the optimization and control of next-generation intelligent marine swarms.

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