Abstract
Title: Multi Agents Systems and Max-Plus Algebra Theoretical Frameworks for a Robot-Fish Shoal Modelling and Control The MAXFISH project explores innovative methodologies and implementation strategies for controlling and coordinating a shoal of autonomous underwater robots inspired by the swimming capabilities of fish. This interdisciplinary research combines robotic engineering, control theory, and applied mathematics, with the specific aim to enhance the performance and efficiency of underwater patrolling, inspection, and monitoring operations. Project Objectives MAXFISH is structured around three main scientific objectives: 1. Modelling and development of biomimetic fish robots The goal is to design and mathematically model autonomous underwater vehicles (AUVs) with hybrid propulsion systems (caudal fin and propellers). These robots will replicate fish-like movements to achieve energy-efficient and maneuverable behavior. The modelling approach will use Lie groups, specifically SO(3), to capture the nonlinear dynamics of the fish-robots more accurately than traditional models such as Fossen’s. 2. Design of distributed control and cooperative perception for multi-agent systems (MAS) MAXFISH aims to develop coordination strategies for a team of underwater robots with limited sensing, actuation, and communication capabilities. These strategies will allow decentralized area coverage, cooperative navigation, anomaly detection, and state estimation even in the presence of communication constraints typical of the underwater environment. 3. Application of Max-Plus algebra for scheduling periodic multi-robot patrolling tasks The project introduces a novel use of Max-Plus algebra to optimize the allocation and sequencing of patrol tasks across a heterogeneous robotic team. This framework is particularly suited to repetitive missions in predefined areas such as submerged archaeological sites, coral reefs, or critical marine infrastructure, where agents must visit different points of interest with varying durations and requirements. Expected Results The MAXFISH project will produce the following key results: • A comprehensive theoretical framework for modelling single and multi-agent robotic systems using advanced mathematical tools such as Lie groups and Max-Plus algebra. • The development and validation of two low-cost fish robots and one high-performance prototype, equipped with sensors and actuators suitable for different operational scenarios. • A suite of simulation tools, digital twins, and control algorithms for robot behavior and team coordination, to be released as Open Educational Resources (OER). • Real-world test cases validating navigation, guidance, control, and cooperative strategies in underwater environments. • An xIL implementation infrastructure (HIL, SIL, MIL) enabling accurate simulation and hardware-in-the-loop testing. • A robust dissemination plan including scientific publications, conference participation, stakeholder engagement, and final demonstrations with end-users (e.g., marine biologists, archaeologists). Scientific and Technological Innovation From a scientific standpoint, MAXFISH contributes to the field of marine robotics by addressing critical open problems in MAS coordination under real-world constraints such as communication latency, heterogeneous agent capabilities, and sensor limitations. The innovative use of Max-Plus algebra for mission scheduling in underwater MAS is a novel application not previously explored in the literature. The adoption of bio-inspired design enhances the maneuverability and energy efficiency of underwater robots, offering operational advantages in confined or sensitive environments. The digital twin environment, developed with Unity, ROS, and MATLAB, allows for rapid prototyping and testing, supporting reproducibility and technology transfer. Implementation Strategy MAXFISH is organized into five inte
Project details
Unibo Team Leader: Elena Zattoni
Unibo involved Department/s:
Dipartimento di Ingegneria dell'Energia Elettrica e dell'Informazione "Guglielmo Marconi"
Coordinator:
Università degli Studi di Cassino e del Lazio Meridionale(Italy)
Total Unibo Contribution: Euro (EUR) 39.200,00
Project Duration in months: 24
Start Date:
28/09/2023
End Date:
28/02/2026
