Aucamp: An Underwater Camera-Based Multi-Robot Platform with Low-Cost, Distributed, and Robust Localization
Journal:
arXiv
Published Date:
Jun 11, 2025
Abstract
This paper introduces an underwater multi-robot platform, named Aucamp,
characterized by cost-effective monocular-camera-based sensing, distributed
protocol and robust orientation control for localization. We utilize the
clarity feature to measure the distance, present the monocular imaging model,
and estimate the position of the target object. We achieve global positioning
in our platform by designing a distributed update protocol. The distributed
algorithm enables the perception process to simultaneously cover a broader
range, and greatly improves the accuracy and robustness of the positioning.
Moreover, the explicit dynamics model of the robot in our platform is obtained,
based on which, we propose a robust orientation control framework. The control
system ensures that the platform maintains a balanced posture for each robot,
thereby ensuring the stability of the localization system. The platform can
swiftly recover from an forced unstable state to a stable horizontal posture.
Additionally, we conduct extensive experiments and application scenarios to
evaluate the performance of our platform. The proposed new platform may provide
support for extensive marine exploration by underwater sensor networks.
