Underwater exploration is important for mapping out the oceans, environmental monitoring, and search and rescue, yet water represents one of the most challenging of operational environments. The CoCoRo project proposes to address these challenges using cognitive swarm intelligent systems. We present here CoCoRoSim, an underwater swarm robotics simulation used in designing underwater swarm robotic systems. Collective coordination of robots represents principle challenge here, and use simulation in evaluating shoaling algorithm performance given the communication, localization and orientation challenges of underwater environments. We find communication to be essential for well-coordinated shoals, and provided communication is possible, inexact localization does not significantly impact performance. As a proof of concept simulation is employed in evaluating shoaling performance in turbulent waters.
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