H-SURF: Heterogeneous Swarm of Underwater Robotic Fish

Iacoponi, Saverio; Vuuren, Godfried Jansen Van; Santaera, Gaspare; Mankovskii, Nikita; Zhilin, Igor; Renda, Federico; Stefanini, Cesare; Masi, Giulia De

doi:10.1109/oceans47191.2022.9977253

Cited by 9 publications

(3 citation statements)

References 6 publications

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“…Some AUVs are bio-inspired, e.g. in an underwater swarm system H-SURF [34], a swarm of underwater robotic fish is developed. They are designed for monitoring wide areas and can interact and exchange information by acoustic and optical communications.…”

Section: ) Auvsmentioning

confidence: 99%

Low-Cost Underwater Swarm Acoustic Localization: A Review

Jiang,

Renner

2024

IEEE Access

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Underwater swarm robotics has gained prominence as an innovative paradigm for diverse applications, including environmental monitoring and marine exploration. This review paper presents a comprehensive review of low-cost underwater swarm acoustic localization systems, focusing on recent research findings validated through field experiments. To aid research on the concept of low-cost swarm acoustic localization, this article provides overview of cost-effective underwater swarm applications and the applicability assessment of traditional acoustic localization strategies, then presents several crucial components for building an acoustic ranging-based low-cost swarm localization system, including lowcost acoustic modems and low-cost swarm localization system with cooperative strategies. In summary, this review serves as a valuable resource for researchers and practitioners in underwater swarm robotics and acoustic localization, addressing challenges, strategies, and goals of low-cost swarm acoustic localization systems.

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Section: ) Auvsmentioning

confidence: 99%

Low-Cost Underwater Swarm Acoustic Localization: A Review

Jiang,

Renner

2024

IEEE Access

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“…A full description of the platforms is presented in [13]. The robotic swarm is composed of the large majority of fish-robots.…”

Section: General Platforms Description and Functionalitiesmentioning

confidence: 99%

Heterogeneous Underwater Swarm of Robotic Fish

Iacoponi,

Hanbaly,

Infanti

et al. 2023

IOP Conf. Ser.: Mater. Sci. Eng.

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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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“…Similar to the over-water IoT, the Internet of Underwater Things (IoUT) is a rising research topic [9]. Figure 1 illustrates typical applications, for example swarm communication for micro autonomous underwater vehicles (µAUVs), e. g., [10]- [12] or underwater wireless sensor networks (UWSNs), e. g., [13]- [16]. Furthermore, acoustic underwater communication is part of the vision for 6G wireless networks [17], [18], the next-generation of wireless networks.…”

Section: Introductionmentioning

confidence: 99%

Doppler Shift and SFO Robust Synchronization for LoRa-Like Acoustic Underwater Communication

Steinmetz,

Renner

2023

IEEE Access

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Frequency shift chirp modulation (FSCM) is the modulation technique utilized by the LoRa physical layer, a widely used and relatively new communication technique for radio low-power wide area networks (LPWANs). In this paper, we adapt and implement FSCM for low-power acoustic underwater communication. Opposed to over-water communication based on the electromagnetic wave, the acoustic wave in water travels much slower. Therefore, acoustic underwater communication is more sensitive to motion-based Doppler shifts. For a resilient acoustic underwater communication Doppler tracking and removal is mandatory. In this paper, we mathematically derive the effect of Doppler shifts to FSCM symbols. Afterwards, we describe a novel algorithm for a low-power receiver to track Doppler shifts without modification of the transmitted packet. Finally, we evaluate and compare our algorithm to another Doppler estimation algorithm from literature and study the effect on the bit error rate (BER). We show, that our algorithm can improve with lightweight additional computational overhead the BER by a factor of more than 10 4 in some cases.

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H-SURF: Heterogeneous Swarm of Underwater Robotic Fish

Cited by 9 publications

References 6 publications

Low-Cost Underwater Swarm Acoustic Localization: A Review

Low-Cost Underwater Swarm Acoustic Localization: A Review

Heterogeneous Underwater Swarm of Robotic Fish

Doppler Shift and SFO Robust Synchronization for LoRa-Like Acoustic Underwater Communication

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