Wireless teleoperation of HSURF artificial fish in complex paths

In this paper we show the application of the new robotic multi-platform system HSURF to a specific use case of teleoperation, aimed at monitoring and inspection. The HSURF system, consists of 3 different kinds of platforms: floater, sinker and robotic fishes. The collaborative control of the 3 platf...

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Bibliographic Details
Published in:arXiv.org 2024-07
Main Authors: Iacoponi, Saverio, Mankovskii, Nikita, Mohammed El Hanbaly, Infanti, Andrea, Shamma Alhajeri, Renda, Federico, Stefanini, Cesare, De Masi, Giulia
Format: Article
Language:English
Subjects:
Fish
Inspection
Platforms
Remote control
Online Access:Get full text
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Summary:In this paper we show the application of the new robotic multi-platform system HSURF to a specific use case of teleoperation, aimed at monitoring and inspection. The HSURF system, consists of 3 different kinds of platforms: floater, sinker and robotic fishes. The collaborative control of the 3 platforms allows a remotely based operator to control the fish in order to visit and inspect several targets underwater following a complex trajectory. A shared autonomy solution shows to be the most suitable, in order to minimize the effect of limited bandwidth and relevant delay intrinsic to acoustic communications. The control architecture is described and preliminary results of the acoustically teleoperated visits of multiple targets in a testing pool are provided.
ISSN:2331-8422
DOI:10.48550/arxiv.2407.05120