Development of the multiple robot fish cooperation system

Abstract

In this paper, we present the development of the Multiple Robotic Fish cooperation System (MRFS), which is built on the basis of a series of radiocontrolled, multi-link biomimetic fish-like robots designed in our lab. The motivation of this work is that the capability of one single fish robot is often limited while there are many complex missions which should be accomplished by effective cooperation of multiple fish robots. MRFS, as a novel test bed for multiple robotic fish cooperation, can be applied to different types of complex tasks. More importantly, MRFS provides a platform to test and verify the algorithms and strategies for cooperation of multiple underwater mobile robots. We use a disk-pushing task as an example to demonstrate the performance of MRFS. © Springer-Verlag Berlin Heidelberg 2006.