低成本水下机器人集群平台，支持声学协同定位研究
Low-cost Multi-agent Fleet for Acoustic Cooperative Localization Research
- 基于市售与3D打印件搭建，成本低于3000美元
- 配备多普勒测速仪和超短基线阵列，支持声学定位
- 可模拟也可实地测试，适合水下多智能体研究
真实世界中的多智能体自主系统水下测试面临巨大经济与工程挑战。本文提出可配置水下自主机器人集群（CoUGARs），一种低成本、可重构的自主水下航行器（AUV）平台，用于多智能体自主研究。基础设计成本低于3000美元（2025年5月数据），采用商业零件与3D打印部件，可快速适配不同传感器载荷与配置。当前扩展模型搭载多普勒测速仪（DVL）与超短基线（USBL）声学阵列/换能器，支持基于声学的协同定位研究。状态估计、导航与声学通信软件通过容器化架构开发并部署，紧密集成于HoloOcean仿真环境。系统在仿真与犹他州湖泊及水库的实地试验中均完成验证。
原文摘要 · Abstract (English)
Real-world underwater testing for multi-agent autonomy presents substantial financial and engineering challenges. In this work, we introduce the Configurable Underwater Group of Autonomous Robots (CoUGARs) as a low-cost, configurable autonomous-underwater-vehicle (AUV) platform for multi-agent autonomy research. The base design costs less than $3,000 USD (as of May 2025) and is based on commercially-available and 3D-printed parts, enabling quick customization for various sensor payloads and configurations. Our current expanded model is equipped with a doppler velocity log (DVL) and ultra-short-baseline (USBL) acoustic array/transducer to support research on acoustic-based cooperative localization. State estimation, navigation, and acoustic communications software has been developed and deployed using a containerized software stack and is tightly integrated with the HoloOcean simulator. The system was tested both in simulation and via in-situ field trials in Utah lakes and reservoirs.
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