This paper introduces a novel approach to modelling fish robots for underwater exploration, focusing on a shoal of three biomimetic vehicles, each equipped with distinct sensors. The aim is to efficiently model the coordinated behaviour of the robots within the team in exploring an area with certain Points of Interest (POIs) through predefined cyclical paths. Depending on their capabilities, robots are assigned diversified tasks and paths. The resulting model, represented as a max-plus linear system, effectively manages task concatenation and synchronization. Simulation tests confirm the model’s efficacy in capturing the devices’ coordinated behaviour in underwater repetitive patrolling.
A Max-Plus Algebra-based Approach for Modelling Shoals of Fish Robots during Underwater Exploration / Bartolucci, V.; Scaradozzi, D.; Zattoni, E.; Loiseau, J. J.; Martinez, C.; Conte, G.. - 1:(2024), pp. 1966-1973. (Intervento presentato al convegno 34th International Ocean and Polar Engineering Conference, ISOPE 2024 tenutosi a grc nel 2024).
A Max-Plus Algebra-based Approach for Modelling Shoals of Fish Robots during Underwater Exploration
Bartolucci V.;Scaradozzi D.
;
2024-01-01
Abstract
This paper introduces a novel approach to modelling fish robots for underwater exploration, focusing on a shoal of three biomimetic vehicles, each equipped with distinct sensors. The aim is to efficiently model the coordinated behaviour of the robots within the team in exploring an area with certain Points of Interest (POIs) through predefined cyclical paths. Depending on their capabilities, robots are assigned diversified tasks and paths. The resulting model, represented as a max-plus linear system, effectively manages task concatenation and synchronization. Simulation tests confirm the model’s efficacy in capturing the devices’ coordinated behaviour in underwater repetitive patrolling.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
