Dear Bojan Andonovski ,

I think the best transmission system for underwater is the ultrasound waves.

You can use them for measuring the distance to the vehicle and then consequently you can control it using ultrasound transducers. To detect the distance and direction you need two receiving transducer with a distance between them. Three receiving transducers can accurately position the vehicle.

Best wishes.

I mean the sensor feedback to control the ROV, such as force or velocity or any other

Dear Bojan Andonovski ,

If you cam measure the position at different time during the motion you can calculate its velocity. Then you can control the velocity by instructing the motor of the vehicle. The method which I proposed in my first post is to locate the position of the vehicle with time. From the this data you can determine the velocity. by simply dividing ds/dt where ds is the displacement and dt is the corresponding time interval.

There are other method by using normal sensors then transmit the sensor reading to the remote control station which decides for global movement of the vehicle.

Best wishes

The problem with Velocity using IMU is the accumulated error. We want low cost sensors such as IMU, pressure because is a swarm. So we need top deploy those sensors on let say 30 robots. So getting Velocity from IMU will accumulate error. Thats why Im asking for alternative approach (but underwater can not use GPS, than underwater range finders are expensive and imagine 30 of them, pointing sonar to other fishes-robots to get the distance is too way complicated) .So maybe Force control but how? Or any other solution ?

ultrasound transducers underwater when pointing down or up when moving linear not going to work as the distance will be the same over time

Any papers can see use of ultrasound transducer in under water swarm ROV?

Maybe I have to reformulated the question for teleopeareted underwater swarm