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.
@article{arxiv.2508.08303,
title = {Evaluation of an Autonomous Surface Robot Equipped with a Transformable Mobility Mechanism for Efficient Mobility Control},
author = {Yasuyuki Fujii and Dinh Tuan Tran and Joo-Ho Lee},
journal= {arXiv preprint arXiv:2508.08303},
year = {2025}
}
Comments
5 pages, 6 figures. Presented at the ICRA 2025 Workshop on REaCT: Robotics for Environmental and Climate Assessment