2025/08/07 by Yasuyuki Fujii, Fujii, Yasuyuki, Dinh Tuan Tran +3
Computer Science · Engineering · #FOS: Computer and information sciences #Maritime Navigation and Safety #Robotic Path Planning Algorithms #Robotics (cs.RO) #Underwater Vehicles and Communication Systems
paper · pdf · doi:10.48550/arxiv.2508.08303
openalex publication_date 2025/08/07 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
Efficient mobility and power consumption are critical for autonomous water surface robots in long-term water environmental monitoring. This study develops and evaluates a transformable mobility mechanism for a water surface robot with two control modes: station-keeping and traveling to improve energy efficiency and maneuverability. Field experiments show that, in a round-trip task between two points, the traveling mode reduces power consumption by 10% and decreases the total time required for travel by 5% compared to the station-keeping mode. These results confirm the effectiveness of the transformable mobility mechanism for enhancing operational efficiency in patrolling on water surface.