Modeling formations of robots moving in an aquatic environment

Orlinsky E.P., Sorokoumov P.S., Pavlov D.M., Kuzemkin M.V.
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The objective of this study is to determine the best formations for the joint movement of a group of small robots in an aquatic environment. Estimation of drag of the flow is a traditional and well-known area of research, but it is not always valid to extend the conclusions made for a single robot to a group of similar devices due to the physical effects that appear during joint movement, such as a wave shadow. For these reasons, it is necessary to study the hydrodynamic characteristics of certain robot formations as a stable structure. The hydrodynamic parameters of systems with two main types of propulsion were studied: locomotive (fishtails) and propellers. Formations similar in structure to schools of fish were mainly considered, and then their applicability for robots of different types was assessed. The relationship between the speed of movement of the group and the drag of each of its participants was also studied. Mathematical modeling of the flow around a group of robots was performed using the finite volume method using two software packages (FlowVision and OpenFoam). Robots with a screw propeller interfere with each other when packed into tight formations, and for the locomotive case, being in the disturbance zone, on the contrary, is preferable. Also, with poorly streamlined bodies, flows separating from the surface can turn into narrow turbulent jets that greatly interfere with the rear robots. It has been established that wake effect reduces energy costs only at low speeds of movement — about 5 cm/s; at high speeds, movement in columns becomes difficult for the rear robots. No large difference in frontal resistance was found between a single robot and a group for a fish-like tail. The studies made it possible to develop and substantiate recommendations for optimizing robot designs for group movement.

Keywords: group robotics, aquatic robotics, FlowVision, OpenFoam, simulation modeling
Citation in English: Orlinsky E.P., Sorokoumov P.S., Pavlov D.M., Kuzemkin M.V. Modeling formations of robots moving in an aquatic environment // Computer Research and Modeling, 2025, vol. 17, no. 4, pp. 601-620
Citation in English: Orlinsky E.P., Sorokoumov P.S., Pavlov D.M., Kuzemkin M.V. Modeling formations of robots moving in an aquatic environment // Computer Research and Modeling, 2025, vol. 17, no. 4, pp. 601-620
DOI: 10.20537/2076-7633-2025-17-4-601-620
URL: http://crm-en.ics.org.ru/journal/article/3632/

 

Supplementary information:

 

Appendix.pdf

 

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Copyright © 2025 Orlinsky E.P., Sorokoumov P.S., Pavlov D.M., Kuzemkin M.V.

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