H-SURF: Heterogeneous Swarm of Underwater Robotic Fish

Saverio Iacoponi, Godfried Jansen Van Vuuren, Gaspare Santaera, Nikita Mankovskii, Igor Zhilin, Federico Renda, Cesare Stefanini, Giulia De Masi

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

8 Scopus citations


In this paper, we presented a new underwater swarm system called H-SURF: Heterogeneous Swarm of Underwater Robotic Fish, consisting of a school of artificial robotic fish cooperating to perform specific tasks in the underwater environment by algorithms of decentralized control. Moreover, they interact and are supported by two additional platforms: a floater and a sinker. The first one is used to guarantee connection and communication with land-based research station, while the second is used to provide telepresence underwater. The system has been entirely designed, developed and realized within this project. The hardware components and software architecture are here exposed.

Original languageBritish English
Title of host publicationOCEANS 2022 Hampton Roads
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781665468091
StatePublished - 2022
Event2022 OCEANS Hampton Roads, OCEANS 2022 - Hampton Roads, United States
Duration: 17 Oct 202220 Oct 2022

Publication series

NameOceans Conference Record (IEEE)
ISSN (Print)0197-7385


Conference2022 OCEANS Hampton Roads, OCEANS 2022
Country/TerritoryUnited States
CityHampton Roads


  • artificial school of fish
  • robotic fish
  • swarm robotics
  • underwater swarm


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