Heterogeneous Underwater Swarm of Robotic Fish

Abstract 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, w...

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Bibliographic Details
Published inIOP conference series. Materials Science and Engineering Vol. 1292; no. 1; pp. 12008 - 12015
Main Authors Iacoponi, S., Hanbaly, M., Infanti, A., Andonovski, B., Mankovskii, N., Zhilin, I., Renda, F., Stefanini, C., Masi, G. De
Format Journal Article
LanguageEnglish
Published Bristol IOP Publishing 01.10.2023
Subjects
Coordination
Fleet management
Multiple robots
Robotics
Underwater communication
Underwater robots
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Summary:Abstract 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