Coordination of Multi‐Underwater Drones: Towards an Integrated Object‐Oriented Methodology in an Open‐Source Environment

Abstract

This paper's goal is to present a framework for studying multi‐underwater drone coordination, specifically formation control, based on a real‐time object‐oriented paradigms in an open‐source environment (the Operating Robot System Environment). This framework will capture the system's whole development life cycle, from the requirements specification to testing out the simulation and realization models. Based on this specialized framework, we can easily and quickly develop and verify the control algorithms while meeting future input requirements or manageable changes.