Leader-Follower 3D formation for Underwater Robots (DARS 2024) скачать в хорошем качестве

Leader-Follower 3D formation for Underwater Robots (DARS 2024)

This video accompanies our DARS 2024 paper (Distributed Autonomous Robotic Systems) which is available The schooling behavior of fish is hypothesized to confer many survival benefits, including foraging success, safety from predators, and energy savings through hydrodynamic interactions when swimming in formation. Underwater robot collectives may be able to achieve similar benefits in future applications, e.g. using formation control to achieve efficient spatial sampling for environmental monitoring. Here we introduce a leader-follower strategy for underwater formation control that allows us to realize complex 3D formations, using purely vision-based perception and a reactive control algorithm that is low computation. We use a physical platform, BlueSwarm, to demonstrate for the first time an experimental realization of inline, side-by-side, and stag- gered swimming 3D formations. More complex formations are studied in a physics-based simulator. Our findings lay the groundwork for future applications of underwater robot swarms in aquatic environments with minimal communication.