用智能船队在水上实现音乐响应的三维动态艺术表演。
Choreographing the Way of Water: A Computational Framework for Aquatic Robotic Art
- 通过水面船只构建分布式编排平台，突破二维表现限制。
- 18艘船在苏黎世湖完成《天鹅湖》演出，8艘船在威尼斯参展。
- 非程序员艺术家可用可视化界面创作水上演艺，降低技术门槛。
开放水域中的机器人编排受非线性流体动力学制约，易受环境扰动和系统非线性影响。本文提出“水之舞”（Way of Water）的软硬件一体化架构，将自主水面舰艇组成分布式编排平台。突破传统二维水面表现，利用层流喷口与多区照明，拓展至三维立体空间。核心贡献为“水之舞工作室”——基于浏览器的时间轴合成创作工具，将舰队视为类音频工作站的交互乐器，支持音乐响应编排。该平台集成序列凸规划生成轨迹、模型预测控制抗干扰，并通过可视化时间线呈现，使非编程艺术家也能高效操控高性能水下机器人集群。系统包含定制全向底盘、专用于水环境的状态估计与控制栈，以及基于LTE/MQTT与RTK-GPS同步的舰队通信链路。通过两次部署验证：苏黎世湖18艘船演绎《天鹅湖》，威尼斯2025年双年展8艘船展示《时空存在》，为流体机器人集群的设计与部署建立基准参考。
原文摘要 · Abstract (English)
Robotic choreography in open water is governed by nonlinear fluid dynamics, which impose significant challenges due to environmental disturbances and nonlinear system dynamics. This paper presents the cyber-physical architecture of Way of Water, a vertically integrated framework that orchestrates a fleet of autonomous surface vessels as a distributed choreographic platform. Moving beyond the surface-pixel paradigm, these vessels use laminar nozzles and multi-zone lighting to extend their expressive range from the 2D water plane into the 3D volumetric domain. Our primary contribution is the Way of Water Studio, a browser-based, timeline-compositing authoring paradigm that treats the fleet as a DAW-like instrument for music-responsive choreography. The Studio encapsulates Sequential Convex Programming for trajectory generation and Model Predictive Control for disturbance rejection presented through a visual timeline, broadening access to high-performance aquatic robotics for non-programmer artists. Grounding the Studio is the full cyber-physical stack: a custom holonomic chassis, a state-estimation and control stack tuned for the aquatic domain, and an LTE/MQTT fleet link with RTK-GPS time synchronization. We report on the system's validation across two distinct deployments: an 18-vessel Swan Lake interpretation at Lake Zurich and an 8-vessel Time Space Existence 2025 Venice Biennale demonstration at Forte Marghera, establishing a foundational reference for the design and deployment of fluidic robotic swarms.
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