Multi-agent control and implementation of Bio-inspired underwater robots for mariculture monitoring and control

The purposes of this study in multi-robot systems is in the implementation of self-controlled multi-robot systems that operate without human aid in order to eliminate potential human risk by letting them deal with complex and dangerous operations that can't be done by a single robot system. In case of mariculture that draws people's attention in recent years, it is not feasible for human beings to run it by themselves and underwater robots are being considered as an alternative by many people. Since such a mariculture in mother nature is on a large scale and is widespread with various uncertainty including unknown obstacles, however, a single robot can hardly collect all information required, and all of monitoring work will be stopped in case of the robot's breakdown. This paper proposes an underwater swarm robot system in which each of multiple agent robots operates on its own according to its own private environment being able to locate itself based on robot buoys within an environment such as mariculture.