Tethered Multi-Robot Systems in Marine Environments

Markus Buchholz; Ignacio Carlucho; Michele Grimaldi; Yvan R. Petillot

Tethered Multi-Robot Systems in Marine Environments

Markus Buchholz
, Ignacio Carlucho
, Michele Grimaldi
, Yvan R. Petillot

Research output: Contribution to conference › Paper › peer-review

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Abstract

This paper introduces a novel simulation framework for evaluating motion control in tethered multi-robot systems within dynamic marine environments. Specifically, it focuses on the coordinated operation of an Autonomous Underwater Vehicle (AUV) and an Autonomous Surface Vehicle(ASV). The framework leverages GazeboSim, enhanced with realistic marine environment plugins and ArduPilots SoftwareIn-The-Loop (SITL) mode, to provide a high-fidelity simulation platform. A detailed tether model, combining catenary equations and physical simulation, is integrated to accurately represent the dynamic interactions between the vehicles and the environment. This setup facilitates the development and testing of advanced control strategies under realistic conditions, demonstrating the frameworks capability to analyze complex tether interactions and their impact on system performance.

Original language	English
Publication status	Published - 23 May 2025
Event	AQ²UASIM : Advancing Quantitative and QUAlitative SIMulators for marine applications - Atlanta, United States Duration: 23 May 2025 → 23 May 2025

Conference

Conference	AQ²UASIM : Advancing Quantitative and QUAlitative SIMulators for marine applications
Country/Territory	United States
City	Atlanta
Period	23/05/25 → 23/05/25

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 14 Life Below Water

Keywords

cs.RO

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title = "Tethered Multi-Robot Systems in Marine Environments",

abstract = "This paper introduces a novel simulation framework for evaluating motion control in tethered multi-robot systems within dynamic marine environments. Specifically, it focuses on the coordinated operation of an Autonomous Underwater Vehicle (AUV) and an Autonomous Surface Vehicle(ASV). The framework leverages GazeboSim, enhanced with realistic marine environment plugins and ArduPilots SoftwareIn-The-Loop (SITL) mode, to provide a high-fidelity simulation platform. A detailed tether model, combining catenary equations and physical simulation, is integrated to accurately represent the dynamic interactions between the vehicles and the environment. This setup facilitates the development and testing of advanced control strategies under realistic conditions, demonstrating the frameworks capability to analyze complex tether interactions and their impact on system performance.",

keywords = "cs.RO",

author = "Markus Buchholz and Ignacio Carlucho and Michele Grimaldi and Petillot, \{Yvan R.\}",

note = "The research paper has been submitted and accepted for the AQ2UASIM Workshop during ICRA 2025 in the USA; AQ²UASIM : Advancing Quantitative and QUAlitative SIMulators for marine applications ; Conference date: 23-05-2025 Through 23-05-2025",

year = "2025",

month = may,

day = "23",

language = "English",

}

TY - CONF

T1 - Tethered Multi-Robot Systems in Marine Environments

AU - Buchholz, Markus

AU - Carlucho, Ignacio

AU - Grimaldi, Michele

AU - Petillot, Yvan R.

N1 - The research paper has been submitted and accepted for the AQ2UASIM Workshop during ICRA 2025 in the USA

PY - 2025/5/23

Y1 - 2025/5/23

N2 - This paper introduces a novel simulation framework for evaluating motion control in tethered multi-robot systems within dynamic marine environments. Specifically, it focuses on the coordinated operation of an Autonomous Underwater Vehicle (AUV) and an Autonomous Surface Vehicle(ASV). The framework leverages GazeboSim, enhanced with realistic marine environment plugins and ArduPilots SoftwareIn-The-Loop (SITL) mode, to provide a high-fidelity simulation platform. A detailed tether model, combining catenary equations and physical simulation, is integrated to accurately represent the dynamic interactions between the vehicles and the environment. This setup facilitates the development and testing of advanced control strategies under realistic conditions, demonstrating the frameworks capability to analyze complex tether interactions and their impact on system performance.

AB - This paper introduces a novel simulation framework for evaluating motion control in tethered multi-robot systems within dynamic marine environments. Specifically, it focuses on the coordinated operation of an Autonomous Underwater Vehicle (AUV) and an Autonomous Surface Vehicle(ASV). The framework leverages GazeboSim, enhanced with realistic marine environment plugins and ArduPilots SoftwareIn-The-Loop (SITL) mode, to provide a high-fidelity simulation platform. A detailed tether model, combining catenary equations and physical simulation, is integrated to accurately represent the dynamic interactions between the vehicles and the environment. This setup facilitates the development and testing of advanced control strategies under realistic conditions, demonstrating the frameworks capability to analyze complex tether interactions and their impact on system performance.

KW - cs.RO

M3 - Paper

T2 - AQ²UASIM : Advancing Quantitative and QUAlitative SIMulators for marine applications

Y2 - 23 May 2025 through 23 May 2025

ER -

Tethered Multi-Robot Systems in Marine Environments

Abstract

Conference

UN SDGs

Keywords

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