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Related Experiment Video

Updated: Jun 4, 2026

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy

Published on: October 14, 2017

Multi-robot coordination for underwater Mothership-Passenger systems.

Nathan L Butler¹, Geoffrey A Hollinger¹, Xi Yu²

¹Collaborative Robotics and Intelligent Systems (CoRIS) Institute, Oregon State University, Corvallis, OR, United States.

Frontiers in Robotics and AI

|June 3, 2026

Summary

This summary is machine-generated.

This study introduces a Mothership-passenger approach for multi-robot coordination in challenging underwater environments. It enhances coordination efficiency and robustness using novel algorithms under communication constraints.

Keywords:

marine robotics multi-robot coordination orienteering reinforcement learning under-ice exploration

Related Experiment Videos

Last Updated: Jun 4, 2026

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy

Published on: October 14, 2017

Area of Science:

Robotics
Autonomous Systems
Ocean Engineering

Background:

Multi-robot coordination faces significant challenges in underwater environments due to limited communication bandwidth.
Acoustic links in underwater settings restrict centralized planning and hinder decentralized information sharing.

Purpose of the Study:

To explore a "Mothership-passenger" paradigm for efficient multi-robot coordination under communication constraints.
To develop and validate algorithms that improve coordination efficiency and robustness in underwater multi-robot systems.

Main Methods:

Developed two algorithms integrating hierarchical guidance with decentralized planning for multi-robot orienteering.
Implemented a learned policy on a Mothership vehicle for adaptive robot priority configuration.
Validated algorithms through simulations and field experiments in an inland lake.

Main Results:

Demonstrated significant improvements in coordination efficiency and robustness compared to baseline methods.
Showcased the effectiveness of the "Mothership-passenger" paradigm in broad spatial coverage and reduced mission risk.
Validated the algorithms' ability to handle stochastic travel costs and mission disruptions.

Conclusions:

The proposed "Mothership-passenger" paradigm and algorithms effectively address coordination challenges in communication-constrained underwater environments.
These advancements are crucial for deploying coordinated robotic teams in remote and challenging locations like under-ice ocean regions.
The study highlights the potential for globally informed guidance to shape local planning under strict constraints.