Output Feedback Formation Control of a School of Robotic Fish with Artificial Lateral Line Sensing
Artur Wolek,Derek A. Paley,Artur Wolek,Derek A. Paley
This paper presents an estimation and control framework to stabilize the parallel motion of a school of robotic fish using sensory feedback. Each robot is modeled as a constant speed, planar, self-propelled particle that produces a flowfield according to a dipole potential flow model. An artificial lateral line system senses pressure fluctuations at several locations along each robot's body. The e...
