H-SURF: Heterogeneous Swarm of Underwater Robotic Fish

In this paper, we presented a new underwater swarm system called H-SURF: Heterogeneous Swarm of Underwater Robotic Fish, consisting of a school of artificial robotic fish cooperating to perform specific tasks in the underwater environment by algorithms of decentralized control. Moreover, they interact and are supported by two additional platforms: a floater and a sinker. The first one is used to guarantee connection and communication with land-based research station, while the second is used to provide telepresence underwater. The system has been entirely designed, developed and realized within this project. The hardware components and software architecture are here exposed.