Underwater communication is a challenging issue for underwater robotics. This is especially the case for swarm robotics in confined spaces and turbid waters where neither sonar nor light can be used. This paper presents a new perspective for addressing this issue. The approach is based on artificial electric sense, a sensing ability inspired from weakly electric fish that can perceive their surroundings and communicate within a group by interpreting the electric fields generated by themselves or by conspecifics. This concept is implemented on a heterogenous swarm of underwater robots, named subCULTron, which is able to cooperate in order to explore and monitor its environment in the harsh conditions of the Venice Laguna.

Issue Section:
Special session: Complexity ALI[F|V]E: Socializing & Eco-integrating robots with living organisms
Artificial electric sense, Underwater communication, Explore and monitor in harsh environment
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2021
Massachusetts Institute of Technology
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