Engineering a Swarm of Autonomous Sailboats: Design, Controls and Power Systems

Abstract This paper presents the design and fabrication, controls, and power systems of a small, autonomous, self-powered sailboat engineered for deployment in swarms to perform distributed measurements of various parameters like salinity, temperature at different water depths, pressure, humidity, wave height, and multiple more across large bodies of water, typically oceans. These units are designed to be low-cost yet robust, capable of withstanding strong waves and storm conditions (type 2 hurricanes). The sailboat harnesses power through three modalities: solar, wind, and wave energy. Solar panels are integrated into the sail and hull, while a small hydrogenerator on the keel converts motion into electricity and can act as a reversible propeller when wind is insufficient. Additionally, a pendulum-based wave energy capture system (currently under development) is planned to be embedded in the keel that generates power during wavy conditions and enhances stability. Equipped with advanced navigation systems, the sailboat relies primarily on wind power for propulsion, reducing electrical energy usage. RF communication capabilities enable each unit to form a mesh network, allowing seamless data transmission to land and coordinated operation within the swarm. This scalable and innovative platform provides a durable and efficient solution for distributed sensing across large bodies of water.