Heterogeneous Underwater Swarm of Robotic Fish

IOP conference series(2023)

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摘要
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.
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关键词
heterogeneous underwater swarm
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