Formation Control With Obstacle Avoidance of Underwater Swarms Based on Relative Visual Feedback

ABSTRACT Underwater multi‐robot and swarm systems require advanced methodologies for controlling collective behavior. Conventional single‐robot techniques, such as tethering, sonar imaging, and acoustic localization, are not scalable or effective for swarm applications. This work introduces novel approaches for visual detection, relative localization, and control of a system of multiple autonomous underwater robots. In particular, we focus on agent‐to‐agent visual localization to inform control strategies and enable the emergence of coordinated swarm behaviors. The proposed methodologies have been implemented and tested on a fleet of autonomous underwater robots developed as part of the HSURF project. We present a thorough experimental validation of the integrated detection‐to‐control system, demonstrating its robustness and effectiveness in realistic, real‐world‐like conditions. This research marks a significant step forward in developing scalable solutions for underwater multi‐robot systems.