When Birds Meet Fish: Vision-Force Fusion for Autonomous Underwater Docking in Cross-Domain Avian-Aquatic Collaboration
Hongchang Liu, Ruiheng Wang, Yongkang Jiang, zhang shenli, Xiangdan Zhao, Xin Xu, Yulong Ding, Feng Lyu, Zhipeng Wang, yanmin Zhou, Bin He
AI summary
Problem
Existing docking methods rely on stable communication or fixed platforms, which fail underwater due to signal attenuation and dynamic conditions, leaving a gap for autonomous, communication-free cross-domain vehicle integration.
Approach
The system uses a shovel-shaped clamping mechanism for passive self-alignment, paired with a dual-modal perception algorithm that fuses underwater stereo vision and tactile pressure data to detect landing states and docking intent without inter-vehicle links.
Key results
- 6-second autonomous docking and 5.5-second release cycle
- 3 mm landing gear recognition accuracy in turbid water
- 38° maximum tolerable landing angle via passive guide geometry
- Reliable intent recognition for docking and release without communication
Why it matters
Provides a scalable, communication-free foundation for integrated air-sea robotic missions in challenging underwater environments.
Abstract
Unmanned aerial–aquatic vehicles (UAAVs) provide cross-domain adaptability and broad visions, while autonomous underwater vehicles (AUVs) support long-duration operations. This work integrates the two by developing a rapid underwater docking and releasing system. An autonomous clamping mechanism is designed to anchor UAAVs under varied landing attitudes, and a vision–tactile state perception algorithm based on decision-level dual-modal fusion is proposed to enable reliable underwater docking with no need of communications between the UAAV and AUV. Experimental results validate autonomous perception and reliable docking in fully underwater environments, achieving a docking time of 6 s and a landing gear recognition accuracy of 3 mm. The proposed framework offers an efficient solution for aerial–aquatic cooperation, advancing cross-domain robotic platforms for ocean monitoring, emergency response, and underwater exploration.