Coordinated Control of Robotic Fish Using an Underwater Wireless Network

  • Daniel J. Klein
  • Vijay Gupta
  • Kristi A. Morgansen


We consider an application of control over a wireless network to coordinate members of a small school of free-swimming underwater vehicles. While these vehicles are capable of limited speed modulation, we restrict them to swimming at constant forward speed. The control task in consideration requires the school to track a moving target whose speed could be considerably less than that of the pursuit vehicles. The coordination task is achieved using an ad-hoc communication network of ultra-low frequency radios, which provide short-range communication links. We report on underwater communication technologies, the design of the coordinating controller, and the application of the controller to a network of robotic fish​.


Distributed control Networked control systems Robotic fish Control under water Control across wireless networks 


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Copyright information

© Springer Science+Business Media, LLC 2011

Authors and Affiliations

  • Daniel J. Klein
    • 1
  • Vijay Gupta
  • Kristi A. Morgansen
  1. 1.Department of Electrical and Computer EngineeringUniversity of CaliforniaSanta BarbaraCAUSA

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