跨水空介质集群机器人研究现状与展望

The design of aerial-aquatic robots is inspired by biology, enabling adaptation to diverse environments such as air and water. These robots possess the ability to move in different media, effectively addressing the limitations of traditional robots confined to single-environment operations. Meanwhile, swarm robots achieve group coordination through distributed control and intelligent algorithms, enhancing the efficiency and robustness of task execution. Aerial-aquatic swarm robots combine the dual characteristics of traversing different media and operating in a coordinated group, involving movement and operations across multiple environments and multi-robot collaboration. However, research on aerial-aquatic swarm robots has not been introduced. This paper systematically summarizes the design, system, and control of various types of aerial-aquatic robots, including multi-rotors, fixed wings, hybrid multi-rotors and fixed-wing, and bio-inspired robots. It also elucidates the research progress in the theory and application of cooperative control for aerial, surface, and underwater swarm robots. In the future, aerial-aquatic swarm robots will address significant challenges, including (1) cross-environment adaptability of robot structures and control algorithms, (2) communication among robot groups in different media, and (3) cooperative control of swarm formations across media. Successful research outcomes are anticipated to be crucial in various fields, such as environmental monitoring, disaster rescue, and marine exploration.