microUSV

microUSV provides an indoor laboratory Unmanned Surface Vehicle (USV) platform for marine swarm robotics research, offering a compact 23 cm-long vessel (≈$320 per unit for a set of ten) to validate algorithms and study swarm dynamics.

Key Features:

• Compact Design: The microUSV measures 23 cm in length and is engineered for maneuverability and stability in indoor laboratory environments.
• Cost-Effectiveness: The platform uses 3D printed components and off-the-shelf hobbyist electronic parts, yielding an approximate cost of $320 per unit for a set of ten vessels.
• Onboard Autonomy: The vehicle includes onboard autonomy features enabling independent operation within controlled environments.
• Minimal Onboard Sensors: The system reduces onboard sensor requirements by using an overhead camera to simulate sensor data.

Scientific Applications:

• Marine swarm robotics research: Supports experimental investigation of swarm behaviors and dynamics in indoor settings.
• Algorithm validation: Enables validation of coordination and navigation algorithms, including waypoint following controllers.
• Control strategy evaluation: Facilitates testing of control strategies for both single-vehicle and multi-robot configurations.
• Multi-robot coordination studies: Allows experiments on coordinated movement and interaction among multiple units.

Methodology:

Onboard autonomy with sensor data simulated via an overhead camera and implementation of a waypoint following controller.