Real-time position and orientation estimation in dual self-propelled swimmers using artificial lateral line systems with intermittent swimming strategy

Ruosi Liu, Yufan Zhai, Qianming Huang, Zhenyu Ding, Yang Ding, Guangming Xie, State Key Laboratory for Turbulence and Complex Systems, Intelligent Biomimetic Design Lab, School of Advanced Manufacturing and Robotics, Peking University, Department of Electrical and Systems Engineering, University of Pennsylvania, School of Physical Science and Technology, Beijing University of Posts and Telecommunications, Institute of Ocean Research, Peking University

The International Journal of Robotics Research

Published online on April 30, 2026

Abstract

The International Journal of Robotics Research, Ahead of Print.
In nature, fish leverage lateral lines to detect subtle variations in flow velocity and pressure. Inspired by this, artificial lateral line systems (ALLS) have been developed, with notable success in underwater target recognition and localization. However,...