Bio-Inspired blimps and multiple-agent source localisation

A blimp, called FishBlimp, that uses fins for propulsion was built and source localisation capability was added to it. The blimp’s envelope is a spherical mylar foil balloon approximately 53 cm in diameter. To this, servos and fins were added in four equal positions along the equator of the envelope. A gondola was attached to the bottom with the rest of the hardware. Support for the blimp was added to the open source autopilot called ArduPilot. Blimp dynamics was also added to its simulation system called SITL. Then multiple-agent source localisation was performed within SITL, using a modified Particle Swarm Optimisation algorithm.