VSAP Lab

Underwater Swarm Robotics

Heterogeneous Swarm of Underwater Autonomous Vehicles

A school of 30 hybrid underwater robotic fishes with distributed sensing and communication.

Inspired by biological school fishes, this project implements an artificial school of 30 hybrid underwater robots — 5 special fishes with enhanced sensors and communication, and 25 autonomous fishes with inter-robot communication and emergency recovery. A floating beacon collects data from the swarm, and a static seafloor robot resurfaces after operation to collect environmental data.

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Underwater Swarm Robotics

Related Publications

F. Renda, A. Mathew and D. F. Talegon, "Dynamics and Control of Soft Robots With Implicit Strain Parametrization," IEEE Robotics and Automation Letters, vol. 9, no. 3, pp. 2782-2789, March 2024.

DOI

P. Pustina, C. D. Santina, F. Boyer, A. De Luca and F. Renda, "Input Decoupling of Lagrangian Systems via Coordinate Transformation," IEEE Transactions on Robotics, 2024.

DOI

Z. Chen et al., "Data-Driven Methods Applied to Soft Robot Modeling and Control: A Review," IEEE Transactions on Automation Science and Engineering, 2024.

DOI

Waseem Akram, Taimur Hassan, Hamed Toubar, Muhayyuddin Ahmed, Nikola Miskovic, Lakmal Seneviratne, and Irfan Hussain, "Aquaculture defects recognition via multi-scale semantic segmentation," Expert Systems with Applications 237, 2024.

Bakht, A.B. et al., "MuLA-GAN: Multi-level attention GAN for enhanced underwater visibility," Ecological Informatics, 2024.

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