Low-cost Multi-agent Fleet for Acoustic Cooperative Localization Research

Nelson Durrant, Braden Meyers, Matthew McMurray, Clayton Smith, Brighton Anderson +3 more
11/11/2025
cs.ROcs.MA

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Abstract

Real-world underwater testing for multi-agent autonomy presents substantial financial and engineering challenges. In this work, we introduce the Configurable Underwater Group of Autonomous Robots (CoUGARs) as a low-cost, configurable autonomous-underwater-vehicle (AUV) platform for multi-agent autonomy research. The base design costs less than $3,000 USD (as of May 2025) and is based on commercially-available and 3D-printed parts, enabling quick customization for various sensor payloads and configurations. Our current expanded model is equipped with a doppler velocity log (DVL) and ultra-short-baseline (USBL) acoustic array/transducer to support research on acoustic-based cooperative localization. State estimation, navigation, and acoustic communications software has been developed and deployed using a containerized software stack and is tightly integrated with the HoloOcean simulator. The system was tested both in simulation and via in-situ field trials in Utah lakes and reservoirs.

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Cite this paper

@article{durrant2025lowcost,
  title  = {Low-cost Multi-agent Fleet for Acoustic Cooperative Localization Research},
  author = {Nelson Durrant and Braden Meyers and Matthew McMurray and Clayton Smith and Brighton Anderson and Tristan Hodgins and Kalliyan Velasco and Joshua G. Mangelson},
  year   = {2025},
  eprint = {2511.08822},
  archivePrefix = {arXiv},
  url    = {http://arxiv.org/abs/2511.08822v1}
}

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