A Robust Acoustic-Based Communication Principle for the Navigation of an Underwater Robot Swarm

This paper presents a robust acoustic-based communication principle for the localization and navigation of an underwater robot swarm in featureless environments. With the help of acoustic modems and two robots at the surface with available GPS positions, a number of various submerged autonomous underwater vehicles (AUVs) can be navigated to fulfill different tasks in underwater inspection and monitoring in a V-shaped formation. The principle was implemented using Monsun underwater robots and tested under real conditions in a shallow waterbody.