Journal of Aero Aqua Bio-mechanisms
Online ISSN : 2185-1522
ISSN-L : 2185-1522
Original Papers
Development and Assessment of an Experimental System for Swarm Formation by Underwater Robots
Akihisa KonnoYukio OhkuboNobuyuki OnoYukitaka SuzukiShinichiro Ito
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2013 Volume 3 Issue 1 Pages 127-133


To examine swarm formation, we developed a system comprising a set of robots, a position acquisition system, a visible light communication device, and a PC to obtain the position and orientation of the respective robot and to determine their motion. Using it, experiments were conducted on the ground and underwater. Results of the experiments show that the system can make the robots form a predefined formation on the ground. They can move two underwater robots to target points. Results show that the system is useful to develop and to verify swarm algorithms in a realistic situation, not merely in a computer simulation.

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© 2013 Society of Aero Aqua Bio-mechanisms
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