Self-Organized Evasive Fountain Maneuvers with a Bioinspired Underwater Robot Collective

Florian Berlinger, Paula Wulkop, Radhika Nagpal

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Several animal species self-organize into large groups to leverage vital behaviors such as foraging, construction, or predator evasion. With the advancement of robotics and automation, engineered multi-agent systems have been inspired to achieve similarly high degrees of scalable, robust, and adaptable autonomy through decentralized and dynamic coordination. So far however, they have been most successfully demonstrated above ground or with partial assistance from central controllers and external tracking. Here we demonstrate an underwater robot collective that realizes full spatiotemporal coordination. Using the example of fish-inspired evasive maneuvers, our robots display alignment, formation control, and coordinated escape, enabled by real-time on-board multirobot tracking and local decision making. Accompanied by a custom simulator, this robotic platform advances the physically-validated development of algorithms for collective behaviors and future applications including collective exploration, tracking and capture, or environmental sampling.

Original languageEnglish (US)
Title of host publication2021 IEEE International Conference on Robotics and Automation, ICRA 2021
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages9204-9211
Number of pages8
ISBN (Electronic)9781728190778
DOIs
StatePublished - 2021
Externally publishedYes
Event2021 IEEE International Conference on Robotics and Automation, ICRA 2021 - Xi'an, China
Duration: May 30 2021Jun 5 2021

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2021-May
ISSN (Print)1050-4729

Conference

Conference2021 IEEE International Conference on Robotics and Automation, ICRA 2021
Country/TerritoryChina
CityXi'an
Period5/30/216/5/21

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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