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.
Bartolucci, V., Scaradozzi, D., Zattoni, E., Loiseau, J.J., Martinez, C., Conte, G. (2024). A Max-Plus Algebra-based Approach for Modelling Shoals of Fish Robots during Underwater Exploration. Cupertino, California 95015-0189 : ISOPE, International Society of Offshore and Polar Engineers.
A Max-Plus Algebra-based Approach for Modelling Shoals of Fish Robots during Underwater Exploration
Bartolucci V.
;Zattoni E.;
2024
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.
