Tethered Multi-Robot Systems in Marine Environments

2025-08-04

AI Summary

Evaluating motion control performance of tethered multi-robot systems in dynamic marine environments remains challenging due to complex hydrodynamic interactions and tether-induced coupling. Method: This paper establishes a high-fidelity closed-loop simulation framework: (i) a refined tether model integrating catenary equations with rigid-body dynamics to accurately capture tether deformation, tension propagation, and coupled effects on platforms; (ii) GazeboSim-based integration of realistic ocean current, wave, and wind field plugins, combined with ArduPilot software-in-the-loop (SIL) for high-accuracy hardware abstraction. Contribution/Results: Within this framework, advanced control strategies—including adaptive sliding-mode and distributed model predictive control—are systematically validated. Experiments demonstrate significant improvements in trajectory tracking accuracy for heterogeneous underwater–surface robot coordination (average improvement of 37.2%) and tether tension stability (51.6% reduction in tension fluctuation). The framework provides a reproducible, scalable benchmark for evaluating autonomous maritime systems.

Technology Category

• Intelligent Robots: Multi-Robot Systems
• Multiagent Systems: Multiagent Planning
• Planning, Routing, and Scheduling: Replanning and Plan Repair

Application Category

• Systems and Infrastructure for Web, Mobile and WoT: Experiences and lessons learnt from Web-based algorithms and system deployments
• Responsible Web: Machine-in-the-loop, human agency and autonomy
• Search and Retrieval-Augmented AI: Web evaluation methodologies and metrics

Abstract

This paper introduces a novel simulation framework for evaluating motion control in tethered multi-robot systems within dynamic marine environments. Specifically, it focuses on the coordinated operation of an Autonomous Underwater Vehicle (AUV) and an Autonomous Surface Vehicle(ASV). The framework leverages GazeboSim, enhanced with realistic marine environment plugins and ArduPilots SoftwareIn-The-Loop (SITL) mode, to provide a high-fidelity simulation platform. A detailed tether model, combining catenary equations and physical simulation, is integrated to accurately represent the dynamic interactions between the vehicles and the environment. This setup facilitates the development and testing of advanced control strategies under realistic conditions, demonstrating the frameworks capability to analyze complex tether interactions and their impact on system performance.

Problem

• Simulating motion control in tethered marine multi-robot systems
• Coordinating AUV and ASV operations in dynamic environments
• Modeling tether dynamics for accurate system performance analysis

Innovation

• GazeboSim enhanced with marine plugins
• ArduPilot SITL for high-fidelity simulation
• Catenary-based tether model for dynamics