CPS- Synergy- Tracking Fish Movement with a School of Gliding Robotic Fish Poster.pdf

The goal of this project is to create an integrative framework for the design of coupled biological and robotic systems that accommodates system uncertainties and competing objectives in a rigorous, holistic, and effective manner. The design principles are developed using a concrete, end-to-end application of tracking and modeling fish movement with a network of gliding robotic fish. A distributed extended Kalman filter algorithm has been developed that estimates the position of a moving target using time-difference-of-arrival (TDOA) measurements, mimicking the problem of TDOA-based fish localization using telemetry receivers, where each receiver has access to its neighbors' information only. As to the robotic platform, it has seen several enhancements including a serviceable and modular design, carrying a variety of environmental sensors and an acoustic receiver. Field experiments in Higgins Lake, Michigan, have been conducted to characterize the performance of the robot in detecting test acoustic tags and to compare it to the performance of stationary receivers placed in the lake.