A unified shared control architecture for underwater vehicle–manipulator systems using task priority

• The proposed USC architecture integrates divisible shared control (DSC) and interactive shared control (ISC) to reduce operator workload in UVMS operations. • Task-priority-based DSC divides whole-body tasks into constraints, operation, and posture optimization, enabling autonomous self-collision avoidance and posture adjustment according to user preferences. • ISC incorporates haptic feedback via a whole-body controller, enhancing human–robot collaboration and allowing seamless integration with the operation task. • Simulations and pool experiments show significant reductions in completion time (17.50%–22.73%), operator input length (25.00%–40.00%), and cognitive load (29.91%–35.53%) compared to manual control.