One of the main features of autonomous control systems is solving complicated optimization problems without human intervention in the presence of uncertainty in real time . Autonomous systems (ASs) must have the recognition and discretion potency, evaluation and estimate authority, and decision-making power to independently perform various tasks in a dynamic environment . These systems have a variety of sensors to understand environmental information so that they can distinguish, evaluate, and make decisions based on them . In addition to an autonomous single-agent system, the AS can be designed in the form of multiagents to identify high-risk, hazardous, or inaccessible areas , . Robotics and AS fields have led to significant advances in a wide range of areas, including unmanned ground vehicles (UGVs), unmanned aerial vehicles (UAVs), unmanned maritime vehicles (UMVs), artificial intelligence (AI), and self-learning machines . Navigation , , 3-D path following for autonomous underwater vehicles (AUVs), AUVs for oceanographic research , and rescue robots have benefited from the development of autonomy.