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Numerical Simulation and Analysis of Fish-Like Robots Swarm

State Key Laboratory of High Performance Computing, College of Computer, National University of Defense Technology, Changsha 410073, China
National Innovation Institute of Defense Technology (NIIDT), Beijing 100060, China
Author to whom correspondence should be addressed.
Appl. Sci. 2019, 9(8), 1652;
Received: 25 March 2019 / Revised: 13 April 2019 / Accepted: 16 April 2019 / Published: 21 April 2019
(This article belongs to the Section Applied Physics)
PDF [9257 KB, uploaded 21 April 2019]


Artificial fish-like robot is an important branch of underwater robot research. At present, most of fish-like robot research focuses on single robot mechanism behavior, some research pays attention to the influence of the hydro-environment on robot crowds but does not reach a unified conclusion on the efficiency of fish-like robots swarm. In this work, the fish-like robots swarm is studied by numerical simulation. Four different formations, including the tandem, the phalanx, the diamond, and the rectangle are conducted by changing the spacing between fishes. The results show that at close spacing, the fish in the back can obtain a large wake from the front fish, but suffers large lateral power loss from the lateral fish. On the contrary, when the spacing is large, both the wake and pressure caused by the front and side fishes become small. In terms of the average swimming efficiency of fish swarms, we find that when the fish spacing is less than 1.25 L (L is the length of the fish body), the tandem swarm is the best choice. When the spacing is 1.25 L , the tandem, diamond and rectangle swarms have similar efficiency. When the spacing is larger than 1.25 L , the rectangle swarm is more efficient than other formations. The findings will provide significant guidance for the control of fish-like robots swarm. View Full-Text
Keywords: fish schooling; hydrodynamics; swimming efficiency; robots swarm; robot controlling fish schooling; hydrodynamics; swimming efficiency; robots swarm; robot controlling

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Li, S.; Li, C.; Xu, L.; Yang, W.; Chen, X. Numerical Simulation and Analysis of Fish-Like Robots Swarm. Appl. Sci. 2019, 9, 1652.

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