Heterogeneous Underwater Swarm of Robotic Fish

Underwater robotics is prevalent today in the field of undersea surveys. The current single-agent approach struggles to cover surveys of large areas, especially when visual analyses are required. Applications of underwater multi-robots fleets need to manage the coordination of the agents, which in t...

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Bibliographic Details
Published in:IOP conference series. Materials Science and Engineering 2023-10, Vol.1292 (1), p.12008
Main Authors: Iacoponi, S., Hanbaly, M., Infanti, A., Andonovski, B., Mankovskii, N., Zhilin, I., Renda, F., Stefanini, C., Masi, G. De
Format: Article
Language:English
Subjects:
Coordination
Fleet management
Multiple robots
Robotics
Underwater communication
Underwater robots
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Summary:Underwater robotics is prevalent today in the field of undersea surveys. The current single-agent approach struggles to cover surveys of large areas, especially when visual analyses are required. Applications of underwater multi-robots fleets need to manage the coordination of the agents, which in turn stresses the already limited capabilities of underwater localization and communication. We propose a concept for a multilayered control architecture, which leverages visual recognition and swarm behavior to negotiate the coordination requirements of the single agent while retaining a significant level of control over the fleet of vehicles as a whole. This is obtained by including multiple control layers, paired with a heterogeneous composition of vehicles.
ISSN:1757-8981
1757-899X
DOI:10.1088/1757-899X/1292/1/012008