Consensus Protocol for Underwater Multi-Robot System Using Scheduled Acoustic Communication

In this paper, we present a newly developed consensus protocol for an underwater multi-robot system using acoustic communication. The approach is motivated by a system in which robots, called aMussels, are dispersed in the environment and measure its properties over longer periods of time. They communicate via acoustic modems using a simple sequenced communication protocol. The classical average consensus protocol has been modified to suit these conditions. The performance of the algorithm is analyzed in a simulation testbed, where we examine its properties and show the convergence of the method. The protocol is then applied to the real system in an underwater experiment, where we demonstrate its convergence in realistic conditions.