Nauplius Optimisation for Autonomous Hydrodynamics

Abstract: Autonomous Underwater vehicles must operate in strong currents, limited acoustic bandwidth, and persistent sensing requirements where conventional swarm optimisation methods are unreliable. This paper presents NOAH, a novel nature-inspired swarm optimisation algorithm that combines current-aware drift, irreversible settlement in persistent sensing nodes, and colony-based communication. Drawing inspiration from the behaviour of barnacle nauplii, NOAH addresses the critical limitations of existing swarm algorithms by providing hydrodynamic awareness, irreversible anchoring mechanisms, and colony-based communication capabilities essential for underwater exploration missions. The algorithm establishes a comprehensive foundation for scalable and energy-efficient underwater swarm robotics with validated performance analysis. Validation studies demonstrate an 86% success rate for permanent anchoring scenarios, providing a unified formulation for hydrodynamic constraints and irreversible settlement behaviours with an empirical study under flow.