Multi-robot control and tracking framework for bio-hybrid systems with closed-loop interaction

Bio-mimetic robots can interact with groups of animals in bio-hybrid systems to study their behaviour by producing calibrated stimuli and by analysing their responses. Integrating a group of robots into a group of animals to mimic their behaviour is challenging, both in terms of robotic hardware design and robot control. In particular, the robots must be able to react in real-time to the animal changes of behaviour. This implies the need to adequately track and identify animal behaviour. In this paper, we present a novel framework to control several bio-mimetic robots to integrate into groups of fish. Our framework is able to track the position of the fish and robots in real-time. The robots are driven by a bio-mimetic model of fish behaviour from the literature. We show that our multi-robot system can successfully integrate into groups of fish with closed-loop interactions between the robots and the fish.