Aucamp combines depth-from-focus, a consensus update, and pressure-sensor orientation control into a low-cost underwater multi-robot testbed, but the 'distributed' claim is undercut by the ground-station-centric architecture described in the paper.
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Aucamp: An Underwater Camera-Based Multi-Robot Platform with Low-Cost, Distributed, and Robust Localization
Aucamp combines depth-from-focus, a consensus update, and pressure-sensor orientation control into a low-cost underwater multi-robot testbed, but the 'distributed' claim is undercut by the ground-station-centric architecture described in the paper.