Energy and SNR-Aware Robotic Swarm Coordination for Aquatic Cleaning Operations

We propose a network-based approach to mission planning for a swarm of robots. We model a search and rescue mission with a fleet of aquatic robots, coordinated with a computing central on a rowing boat, to minimize the environmental impact and avoid noticeable waves. We develop a theoretical yet implementable model for the mission management, taking into account energy and multi-robot communication issues. The considered mathematical tools come from network theory and multi-layered graphs. The chosen mission is aquatic cleaning, and in particular trash detection in canals of Venice. We schematize a specific canal as an example, the "Rio di Ca’ Foscari." Computing centers are located in gondolas, and each of them is coordinated with a swarm of aquatic robots. In this context, we consider a newly-designed floating robot, RoboWood, equipped with GPS sensors, distance sensors, and an underwater camera to observe the ground of the canal and store images, to be analyzed onboard and offline. Finally, we discuss a sonification strategy to obtain human-friendly, auditory feedback from the robotic movements