Miniature Robot Boats Developed for Reconfigurable Aquatic Swarms
A new platform of miniature modular robotic boats, known as FloatForm, has been developed to self-assemble into connected structures on water. These robots utilize a hybrid coordination framework that allows each unit to navigate independently, avoid collisions, and dock with neighboring units. The FloatForm modules are inspired by fire ants, which self-assemble into rafts through local interactions. Each module features a 3D-printed hull and is equipped with four miniature thrusters for propulsion, achieving a forward speed of 70 mm/s. The robots also include an origami-inspired magnetic latching mechanism for physical connection, enabling them to form square lattice structures. The system is designed to overcome challenges faced by aquatic modular self-reconfigurable robots (MSRRs), such as centralized coordination and scalability issues. 
