# Energy Management for Autonomous Underwater Vehicles Using Economic Model Predictive Control

arXiv: https://arxiv.org/abs/1906.08719 · HTML: https://mlsanity.com/paper/1906.08719/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 20 Jun 2019.

## Built on by (most cited first, 1 of 1)

- [An AI-Powered Autonomous Underwater System for Sea Exploration and Scientific Research](https://mlsanity.com/paper/2512.07652/) (2025)

## Abstract (arXiv)

This paper investigates the problem of energy-optimal control for autonomous underwater vehicles (AUVs). To improve the endurance of AUVs, we propose a novel energy-optimal control scheme based on the economic model predictive control (MPC) framework. We first formulate a cost function that computes the energy spent for vehicle operation over a finite-time prediction horizon. Then, to account for the energy consumption beyond the prediction horizon, a terminal cost that approximates the energy to reach the goal (energy-to-go) is incorporated into the MPC cost function.