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EcoBoat: Design and Experimental Validation of an Autonomous Body-Board Boat For Cleaning Water Bodies

arXiv · AI, language, vision and robotics · article · Sep 13, 2026 · UTC

Cleaning water bodies such as swimming pools and lakes typically demands significant manual effort or reliance on costly, sensor-intensive robotic systems. This paper presents EcoBoat, a low-cost autonomous surface vehicle built on a modified hull, designed to collect floating debris in both indoor and outdoor water bodies. For indoor environments, EcoBoat uses ultrasonic sensors to detect boundaries and obstacles, combining random-walk motion with boundary-following behavior. For outdoor environments, it relies on GPS-based geofencing paired with a random-walk strategy for area coverage. A ke

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