In a preceding paper, we have showed as swarm robotics displacement can be related to the deformation of a continuum material, discretized by a lattice network representing the swarm. To reach this aim, it is fundamental to know the swarm configuration, i.e., its shape; this can be computed from the knowledge of the relative distances between its elements and it is studied as a geometry distances problem. Typically, ultrasonic devices are employed to measure the distances. We propose a method based on light signal exchanged between the machines and the computing of the unknown water adsorption coefficient and distance. Aim of this paper is, therefore, to measure distances between underwater elements of the swarm using cheap power LEDs as light source and photodiode as receiver. The receiving photodiode produces a current we can correlate with distance and water adsorption coefficient; we can be able to estimate the two unknown parameters by moving the robots and stressing the emission conditions of the LED diode. Actual work is based on a previous paper where we stressed work conditions of a power LED in shallow water to change its emission characteristics; now, using these results, we can now perform a set of measurements leading to the knowledge of distances d and adsorption coefficient \(a(\lambda ). \)The method we propose here can be a possible support to traditional ultrasonic devices

在先前的论文中，我们已经表明，群体机器人的位移可能与连续体材料的变形有关，并由代表群体的晶格网络离散化。为了达到这个目的，了解群的配置，即其形状，是至关重要的。这可以根据其元素之间的相对距离的知识来计算，并作为几何距离问题来研究。通常，采用超声设备来测量距离。我们提出了一种基于机器之间交换的光信号并计算未知吸水系数和距离的方法。因此，本文的目的是使用廉价的功率LED作为光源并使用光电二极管作为接收器来测量群的水下元素之间的距离。接收光电二极管产生的电流可以与距离和吸水系数相关。我们可以通过移动机器人并强调LED二极管的发射条件来估计两个未知参数。实际工作是基于先前的论文，我们在此强调了浅水中功率LED的工作条件，以改变其发光特性。现在，使用这些结果，我们现在可以执行一组测量以得出距离的知识d和吸附系数\（a（\ lambda）。\）我们在此提出的方法可以为传统超声设备提供可能的支持