Collaboration and Task Planning of Turtle-Inspired Multiple Amphibious Spherical Robots

Area of Science:

• Robotics
• Artificial Intelligence
• Marine Engineering

Background:

• Traditional communication methods fail in turbid underwater environments.
• Amphibious Spherical Robots (ASRs) offer a solution for confined aquatic spaces.
• Turtle-inspired designs provide a model for cooperative multi-robot systems.

Purpose of the Study:

• To propose an embedded architecture formation strategy for ASRs.
• To enable long-distance path following using dynamic visual servoing.
• To enhance underwater robot communication and collaboration.

Main Methods:

• Designing an artificial multi-robot cooperative mode.
• Implementing electronic communication and collaboration devices.
• Developing adaptive visual servoing controllers for trajectory tracking.
• Utilizing a centralized optimization algorithm for mission changes.

Main Results:

• The leader robot effectively controls group motion along a geometric path.
• The system maintains communication efficiency and timely arrivals.
• Adaptive controllers successfully handle system dynamics and environmental interactions.
• The proposed control strategies ensure stable group formation and target achievement.

Conclusions:

• The developed strategy enables robust cooperative navigation for ASRs in challenging underwater conditions.
• Electric field communication proves effective where other modalities fail.
• The turtle-inspired approach enhances multi-robot coordination and mission success.