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| Main Authors: | , , , , , , , |
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| Format: | Preprint |
| Published: |
2025
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2511.08822 |
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| _version_ | 1866915612777775104 |
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| author | Durrant, Nelson Meyers, Braden McMurray, Matthew Smith, Clayton Anderson, Brighton Hodgins, Tristan Velasco, Kalliyan Mangelson, Joshua G. |
| author_facet | Durrant, Nelson Meyers, Braden McMurray, Matthew Smith, Clayton Anderson, Brighton Hodgins, Tristan Velasco, Kalliyan Mangelson, Joshua G. |
| contents | Real-world underwater testing for multi-agent autonomy presents substantial financial and engineering challenges. In this work, we introduce the Configurable Underwater Group of Autonomous Robots (CoUGARs) as a low-cost, configurable autonomous-underwater-vehicle (AUV) platform for multi-agent autonomy research. The base design costs less than $3,000 USD (as of May 2025) and is based on commercially-available and 3D-printed parts, enabling quick customization for various sensor payloads and configurations. Our current expanded model is equipped with a doppler velocity log (DVL) and ultra-short-baseline (USBL) acoustic array/transducer to support research on acoustic-based cooperative localization. State estimation, navigation, and acoustic communications software has been developed and deployed using a containerized software stack and is tightly integrated with the HoloOcean simulator. The system was tested both in simulation and via in-situ field trials in Utah lakes and reservoirs. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2511_08822 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Low-cost Multi-agent Fleet for Acoustic Cooperative Localization Research Durrant, Nelson Meyers, Braden McMurray, Matthew Smith, Clayton Anderson, Brighton Hodgins, Tristan Velasco, Kalliyan Mangelson, Joshua G. Robotics Multiagent Systems Real-world underwater testing for multi-agent autonomy presents substantial financial and engineering challenges. In this work, we introduce the Configurable Underwater Group of Autonomous Robots (CoUGARs) as a low-cost, configurable autonomous-underwater-vehicle (AUV) platform for multi-agent autonomy research. The base design costs less than $3,000 USD (as of May 2025) and is based on commercially-available and 3D-printed parts, enabling quick customization for various sensor payloads and configurations. Our current expanded model is equipped with a doppler velocity log (DVL) and ultra-short-baseline (USBL) acoustic array/transducer to support research on acoustic-based cooperative localization. State estimation, navigation, and acoustic communications software has been developed and deployed using a containerized software stack and is tightly integrated with the HoloOcean simulator. The system was tested both in simulation and via in-situ field trials in Utah lakes and reservoirs. |
| title | Low-cost Multi-agent Fleet for Acoustic Cooperative Localization Research |
| topic | Robotics Multiagent Systems |
| url | https://arxiv.org/abs/2511.08822 |