Table-Top Platform of a Large Scale Underwater Swarm

Hydrodynamic interactions are critical in fish schooling. However, how they can be utilized in underwater swarm robots has not been sufficiently analyzed and the existing systems were not suitable to address this issue. Therefore, we have developed a table-top experimental platform by modifying miniature toy submarines (MTSs) as underwater vehicles. We used a camera, machine learning algorithms, and 2.4 GHz wireless communication module to track and individually control up to 45 MTSs in real time. The underwater swarm can achieve cohesive and stable formations similar to fish school motions, which forms the basis for the analysis of collective behavior and strategies in actual hydrodynamic environments.