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 integrated Work Packages (WPs): • WP1 – Management and Dissemination: coordination and stakeholder engagement. • WP2 – Robot Design and Modelling: development of fish-robot prototypes and digital twins. • WP3 – Multi-Robot Coordination: design of area coverage, cooperative navigation, and distributed estimation algorithms. • WP4 – Max-Plus Algebra Framework: formalization and control synthesis for periodic patrolling tasks. • WP5 – Verification and Validation: integration of hardware and software components, final acceptance testing, and demo preparation. The project will involve engineering spin-offs for the hardware development, promoting technology transfer and entrepreneurship. Hardware components will remain proprietary to encourage further exploitation by the spin-offs, while the methodological infrastructure will be openly shared to benefit the scientific community. Societal and Economic Impact MAXFISH targets application areas with strong societal and economic relevance, including: • Underwater environmental monitoring (e.g., pollution detection, marine ecosystem preservation) • Surveillance of critical underwater infrastructure (e.g., oil & gas facilities, aquaculture farms) • Support for underwater archaeology (e.g., repeated inspections of submerged cultural heritage sites) The robotic shoal paradigm provides a scalable, redundant, and cost-effective alternative to traditional AUV missions. By enabling multi-robot collaboration, MAXFISH reduces mission costs and increases operational resilience. The project aligns with the Sustainable Development Goals (SDGs), particularly those related to Life Below Water (SDG 14) and Industry, Innovation, and Infrastructure (SDG 9). Its outcomes will support EU and national priorities in marine technology, blue economy, and environmental protection. Dissemination Plan MAXFISH includes a detailed dissemination and communication strategy to maximize outreach and impact: • Creation of a dedicated project website and periodic newsletters • Publication of at least four open-access articles in top-tier journals in robotics and marine engineering • Participation in major international conferences such as ICRA, IROS, EMRA, and Oceanology International • Organization of a final demonstration event involving CRN biologists and a proposed demo at the Italian Navy’s Experimental Support Center in La Spezia • Engagement with an External Advisory Board including academic and industrial stakeholders Partnership and Collaboration The MAXFISH consortium includes: • Università degli Studi di Cassino e del Lazio Meridionale (UNICAS) – Coordinator • Università Politecnica delle Marche (UNIVPM) • Alma Mater Studiorum - Università di Bologna (UNIBO) These institutions bring complementary expertise in underwater robotics, control theory, and multi-agent systems. Collaboration will be reinforced through shared tasks, common validation platforms, and the integration of hardware and software developments across the three partners. Conclusion MAXFISH represents a timely and ambitious contribution to the field of marine robotics. By integrating bio-inspired design, advanced control theory, and formal mathematical modelling, the project proposes a novel approach to underwater multi-robot coordination. Its deliverables include validated robotic prototypes, open-source simulation tools, and new theoretical insights. The results will address pressing societal needs in environmental monitoring, cultural heritage protection, and underwater surveillance, while fostering innovation and entrepreneurship within the academic and industrial communities.
Dettagli del progetto
Responsabile scientifico: Elena Zattoni
Strutture Unibo coinvolte:
Dipartimento di Ingegneria dell'Energia Elettrica e dell'Informazione "Guglielmo Marconi"
Coordinatore:
Università degli Studi di Cassino e del Lazio Meridionale(Italy)
Contributo totale Unibo: Euro (EUR) 39.200,00
Durata del progetto in mesi: 24
Data di inizio
28/09/2023
Data di fine:
28/02/2026
