Visual servoing-based autonomous docking and inductive energy-sharing for heterogeneous marine robotic swarms

Overview

This autonomous docking and inductive charging system is a specialized solution designed to support long-term operations of heterogeneous marine robotic swarms. Developed to enable interaction between surface-based platforms and underwater sensor nodes, it addresses the critical challenge of energy replenishment in remote or long-term aquatic monitoring deployments. By automating the docking process, the system reduces the need for human intervention, allowing robotic swarms to maintain continuous presence and data collection in dynamic environmental niches.

Technical specifications

The technology utilizes visual servoing-based control to facilitate precise, autonomous docking between over-actuated autonomous surface platforms and underwater sensor nodes, known as aMussels. Key capabilities include:

• Visual servoing: Uses advanced perception to guide the autonomous docking maneuver.
• Inductive charging: Enables wireless energy transfer to replenish the sensor nodes autonomously upon docking.
• System integration: Compatible with over-actuated platforms capable of dynamic positioning, formation keeping, and mission execution.
• Operational framework: Designed for multi-agent underwater societies where different robot types, such as surface vehicles and underwater nodes, coordinate tasks and exchange information.

Technology readiness level

The technology has been developed and validated within the framework of the EU-funded subCULTron project, which focused on long-term autonomous underwater exploration. Given its development as part of a multi-year research project and subsequent incorporation into broader institutional research agendas like the MARBLE Centre of Excellence, this technology is currently at TRL 4-5, representing a laboratory-validated prototype and demonstrated experimental capability in controlled or specific field environments.