Cooperative control of multiple robotic fish in a disk-pushing task

This paper is concerned with cooperative control of multiple robotic fish in order to achieve a disk-pushing task. Since the capability of a single fish robot is often limited, it might be incapable when carrying out many complex tasks in practice. In such a situation, multiple robotic fish are required to work cooperatively. We use a disk-pushing task as an example to illustrate how to organize multiple fish and plan motion for them. Corresponding experimental results are conducted to verify that through effective cooperation of the robotic fish can obtain high efficiency when achieving complex task