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This research presents SCARAB, a distributed swarm control system enabling autonomous robotic aquatic bridging without reliance on GPS or RF communications. By utilizing multi-model sensing and physics-based simulations, the approach allows unmanned surface vehicles to form structures in contested environments, offering significant implications for military logistics and disaster relief operations. The core innovation lies in the decentralized algorithms that manage localization and docking targets under dynamic conditions like wind and currents.
Autonomous robotic bridging using distributed swarm control without inter-agent communication
arXiv:2609.01394v1 Announce Type: new Abstract: We describe SCARAB--Swarm-Capable Autonomous Robotic Aquatic Bridging. Using distributed swarm control and multi-model sensing of agents and docking targets, agents can localize themselves, join into formations and proceed to desired target locations. Our technologies would eventually allow the Army to perform unpredictable, dispersed river crossings, enhance crew survivability, and minimize the logistics footprint compared to the current Improved Ribbon Bridge. Our methods operate without GPS or RF communications, though these can be used in non-contested environments (e.g., civilian disaster relief for flooding, etc.). We demonstrate our system via physics-engine-based simulation of several agents using unmanned surface vehicles (USVs) in the presence of currents and wind.
Abstract:We describe SCARAB--Swarm-Capable Autonomous Robotic Aquatic Bridging. Using distributed swarm control and multi-model sensing of agents and docking targets, agents can localize themselves, join into formations and proceed to desired target locations. Our technologies would eventually allow the Army to perform unpredictable, dispersed river crossings, enhance crew survivability, and minimize the logistics footprint compared to the current Improved Ribbon Bridge. Our methods operate without GPS or RF communications, though these can be used in non-contested environments (e.g., civilian disaster relief for flooding, etc.). We demonstrate our system via physics-engine-based simulation of several agents using unmanned surface vehicles (USVs) in the presence of currents and wind.
Robotics (cs.RO)
arXiv:2609.01394 [cs.RO]
(or arXiv:2609.01394v1 [cs.RO] for this version)
https://doi.org/10.48550/arXiv.2609.01394 Focus to learn more arXiv-issued DOI via DataCite (pending registration)
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