Implicit coordination for 3D underwater collective behaviors in a fish-inspired robot swarm
Implicit coordination for 3D underwater collective behaviors in a fish-inspired robot swarm
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DOI：
10.1126/scirobotics.abd8668
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发表时间：
2021-01-20
期刊：
影响因子：
25
通讯作者：
Nagpal, Radhika
中科院分区：
文献类型：
--
作者：
Berlinger, Florian;Gauci, Melvin;Nagpal, Radhika
许多鱼种成群结队地聚集在一起，似乎毫不费力地和谐地游泳。大型学校展示了一系列令人印象深刻的集体行为，从简单的浅滩到集体迁徙，从基本的捕食者逃避到动态的动作，如诱饵球和闪电扩张。大量的实验和理论工作表明，这些复杂的三维(3D)行为可以产生于对附近邻居的视觉观察，而不需要明确的交流。相比之下，大多数水下机器人集体依赖于集中的、水面上的、明确的通信，因此，表现出有限的协调复杂性。在这里，我们用一群以鱼为灵感的微型水下机器人演示3D集体行为，这些机器人只使用通过蓝光的产生和感应进行的隐含通信。我们表明，复杂和动态的3D集体行为--同步、分散/聚集、动态圈子形成和搜索-捕获--可以通过感知邻居的最小噪声印象来实现，而不需要任何集中干预。我们的结果提供了对隐含协调的力量的洞察，并对未来的水下机器人感兴趣，这些机器人在环境监测和在珊瑚礁和沿海环境中的搜索等应用中展示出与鱼群一样的集体能力。
Many fish species gather by the thousands and swim in harmony with seemingly no effort. Large schools display a range of impressive collective behaviors, from simple shoaling to collective migration and from basic predator evasion to dynamic maneuvers such as bait balls and flash expansion. A wealth of experimental and theoretical work has shown that these complex three-dimensional (3D) behaviors can arise from visual observations of nearby neighbors, without explicit communication. By contrast, most underwater robot collectives rely on centralized, above-water, explicit communication and, as a result, exhibit limited coordination complexity. Here, we demonstrate 3D collective behaviors with a swarm of fish-inspired miniature underwater robots that use only implicit communication mediated through the production and sensing of blue light. We show that complex and dynamic 3D collective behaviors-synchrony, dispersion/aggregation, dynamic circle formation, and search-capture-can be achieved by sensing minimal, noisy impressions of neighbors, without any centralized intervention. Our results provide insights into the power of implicit coordination and are of interest for future underwater robots that display collective capabilities on par with fish schools for applications such as environmental monitoring and search in coral reefs and coastal environments.