  This paper addresses the trajectory planning for multiple autonomous
underwater vehicles (AUVs) in strong waves that can disturb the AUVs'
trajectory tracking ability and cause obstacle and inter-vehicle collisions. A
novel approach based on Hamilton-Jacobi differential game formulation and model
predictive control is proposed to generate safety-guaranteed trajectories for
AUV systems considering wave disturbance that is either time-varying
state-independent or time-varying state-dependent. This approach plans
safety-guaranteed trajectories for multiple AUVs and considers the shapes of
AUVs, where nonlinear smooth collision avoidance constraints are obtained via
strong duality.
