Multi-Modal Local Sensing and Communication for Collective Underwater Systems

Abstract: This paper is devoted to local sensing and communication for collective underwater systems used in networked and swarm modes. It is demonstrated that a specific combination of modal and sub-modal communication, used simultaneously for robot-robot and robot-object detection, can create a dedicated cooperation between multiple AUVs. These technologies, platforms and experiments are shortly described, and allow us to make a conclusion about useful combinations of different signaling approaches for collective underwater systems.