Distributed AI Agents for Cognitive Underwater Robot Autonomy

• URL: http://arxiv.org/abs/2507.23735v2
• Date: Mon, 04 Aug 2025 08:56:21 GMT
• Title: Distributed AI Agents for Cognitive Underwater Robot Autonomy
• Authors: Markus Buchholz, Ignacio Carlucho, Michele Grimaldi, Yvan R. Petillot,
• Abstract summary: This paper presents Underwater Robot Self-Organizing Autonomy (UROSA)<n>UROSA is a groundbreaking architecture leveraging distributed Large Language Model AI agents integrated within the Robot Operating System 2 (ROS 2) framework.<n>Central innovations include flexible agents dynamically adapting their roles, retrieval-augmented generation, and autonomous on-the-fly ROS 2 node generation.
• Score: 5.644612398323221
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Achieving robust cognitive autonomy in robots navigating complex, unpredictable environments remains a fundamental challenge in robotics. This paper presents Underwater Robot Self-Organizing Autonomy (UROSA), a groundbreaking architecture leveraging distributed Large Language Model AI agents integrated within the Robot Operating System 2 (ROS 2) framework to enable advanced cognitive capabilities in Autonomous Underwater Vehicles. UROSA decentralises cognition into specialised AI agents responsible for multimodal perception, adaptive reasoning, dynamic mission planning, and real-time decision-making. Central innovations include flexible agents dynamically adapting their roles, retrieval-augmented generation utilising vector databases for efficient knowledge management, reinforcement learning-driven behavioural optimisation, and autonomous on-the-fly ROS 2 node generation for runtime functional extensibility. Extensive empirical validation demonstrates UROSA's promising adaptability and reliability through realistic underwater missions in simulation and real-world deployments, showing significant advantages over traditional rule-based architectures in handling unforeseen scenarios, environmental uncertainties, and novel mission objectives. This work not only advances underwater autonomy but also establishes a scalable, safe, and versatile cognitive robotics framework capable of generalising to a diverse array of real-world applications.

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