Coastal Underwater Evidence Search System with Surface-Underwater Collaboration

TL;DR

This paper presents a novel multi-robot surface-underwater collaboration system for efficient and effective search of artificial objects in coastal underwater environments, surpassing traditional methods like divers and tethered vehicles.

Contribution

It introduces an integrated multi-robot system combining surface, towed, and biomimetic underwater robots for comprehensive underwater search and inspection.

Findings

System outperforms traditional search methods in simulations and real-world tests.

Demonstrates robustness and efficiency in coastal underwater environments.

Enables detailed inspections with biomimetic robots.

Abstract

The Coastal underwater evidence search system with surface-underwater collaboration is designed to revolutionize the search for artificial objects in coastal underwater environments, overcoming limitations associated with traditional methods such as divers and tethered remotely operated vehicles. Our innovative multi-robot collaborative system consists of three parts, an autonomous surface vehicle as a mission control center, a towed underwater vehicle for wide-area search, and a biomimetic underwater robot inspired by marine organisms for detailed inspections of identified areas. We conduct extensive simulations and real-world experiments in pond environments and coastal fields to demonstrate the system potential to surpass the limitations of conventional underwater search methods, offering a robust and efficient solution for law enforcement and recovery operations in marine settings.