A Max-Plus Algebra-Based Platform for Modelling Coordinated Underwater Tasks of Fish Robots

This paper presents the design and implementation of a max-plus algebra-based platform to plan and model the coordinated behaviour of fish robots during underwater surveys. The tool, developed using MATLAB App Designer, features an intuitive Graphical User Interface (GUI) that allows users to set travel and exploration timings for a given route and input data. The GUI then simulates the temporal evolution of the coordinated tasks through the background creation of a general max-plus linear system. The GUI provides a clear visualisation of the input and output values, enabling seamless integration of mathematical modelling with practical applications. The case studies demonstrate the platform’s capability to make task coordination efficient and highlight potential improvements to advance underwater robotics research.