Choreographing the Way of Water: A Computational Framework for Aquatic Robotic Art

2026-07-02

AI Summary

This work addresses the dual challenges of precise trajectory control and expressive coordination in robotic choreography within open water, where nonlinear hydrodynamics and environmental disturbances complicate performance. To this end, the authors propose “Way of Water,” a vertically integrated framework that establishes the first digital audio workstation (DAW)-style platform for non-programmer artists to intuitively compose music-driven, three-dimensional aquatic performances. The system integrates sequential convex programming for trajectory generation, model predictive control for disturbance rejection, RTK-GPS–based time synchronization, LTE/MQTT communication, and custom omnidirectional hulls with multimodal actuators. Validated through large-scale demonstrations—18 vessels performing *Swan Lake* on Lake Zurich and an 8-vessel installation at the Venice Biennale—the platform achieves both high-precision motion control and compelling artistic expression, offering a new paradigm for fluid-based robotic swarms.

Abstract

Robotic choreography in open water is governed by nonlinear fluid dynamics, which impose significant challenges due to environmental disturbances and nonlinear system dynamics. This paper presents the cyber-physical architecture of Way of Water, a vertically integrated framework that orchestrates a fleet of autonomous surface vessels as a distributed choreographic platform. Moving beyond the surface-pixel paradigm, these vessels use laminar nozzles and multi-zone lighting to extend their expressive range from the 2D water plane into the 3D volumetric domain. Our primary contribution is the Way of Water Studio, a browser-based, timeline-compositing authoring paradigm that treats the fleet as a DAW-like instrument for music-responsive choreography. The Studio encapsulates Sequential Convex Programming for trajectory generation and Model Predictive Control for disturbance rejection presented through a visual timeline, broadening access to high-performance aquatic robotics for non-programmer artists. Grounding the Studio is the full cyber-physical stack: a custom holonomic chassis, a state-estimation and control stack tuned for the aquatic domain, and an LTE/MQTT fleet link with RTK-GPS time synchronization. We report on the system's validation across two distinct deployments: an 18-vessel Swan Lake interpretation at Lake Zurich and an 8-vessel Time Space Existence 2025 Venice Biennale demonstration at Forte Marghera, establishing a foundational reference for the design and deployment of fluidic robotic swarms.

Problem

• aquatic robotic choreography
• nonlinear fluid dynamics
• environmental disturbances
• volumetric expression
• music-responsive swarm

Innovation

• aquatic robotic swarm
• cyber-physical choreography
• timeline-based authoring
• model predictive control
• volumetric water expression