Biomimetic Electric Sense-Based Localization A Solution for Small Underwater Robots in a Large-Scale Environment By Junzheng Zheng , Jingxian Wang , Xin Guo , Chayutpon Huntrakul , Chen Wang , and Guangming Xie T Digital Object Identifier 10.1109/MRA.2022.3202432 Date of current version: 22 September 2022 50 * IEEE ROBOTICS & AUTOMATION MAGAZINE * DECEMBER 2022 his article presents a novel localization scheme for free-swimming small underwater robots in a large-scale environment. Accurate localization technology has always been a challenge for small underwater robots since the underwater lighting conditions can limit their vision, while the multipath in - terference issue occurring near a wall plagues the sonars. By contrast, some kinds of fish perceive their positions by sensing the electric field in their environment, giving them the ability to accurately localize in underwater environments. Inspired by the electric sense behavior in fish, this article proposes a large-scale localization scheme based on electric 1070-9932/22©2022IEEE ©SHUTTERSTOCK.COM/KRYVENOK ANASTASIIAhttp://www.SHUTTERSTOCK.COM/KRYVENOK https://orcid.org/0000-0003-2682-7869 https://orcid.org/0000-0003-0830-0860 https://orcid.org/0000-0003-4904-8892 https://orcid.org/0000-0001-8604-3703 https://orcid.org/0000-0002-4484-8885 https://orcid.org/0000-0001-6504-0087