Maritime Vehicle Types

Maritime robotics encompasses a diverse range of vehicle platforms, each designed for specific environments and missions. This page provides an overview of the main vehicle categories used in ROS-based maritime robotics.

Surface Vehicles (ASV/USV)

Autonomous Surface Vehicles (ASVs) and Uncrewed Surface Vehicles (USVs) operate on the water's surface. These platforms are commonly used for:

  • Hydrographic surveying and mapping
  • Environmental monitoring
  • Autonomous cargo transport
  • Search and rescue operations
  • Oceanographic data collection

Characteristics: - Degrees of Freedom: Typically 3-4 DOF (surge, sway, yaw, sometimes heave) - Typical Sensors: GPS/GNSS, IMU, cameras, radar, lidar, weather stations, AIS - Propulsion: Propellers, azimuth thrusters, water jets, sail (for autonomous sailboats) - Power: Batteries, solar panels, diesel generators, hybrid systems - Communication: RF, cellular, satellite

Common Platforms: - Autonomous survey vessels - Wave energy converters (WEC) - Autonomous sailboats - Multi-hull vessels (catamarans, trimarans)

Underwater Vehicles

Autonomous Underwater Vehicles (AUVs)

AUVs are untethered robotic submarines that operate independently underwater. They come in two main configurations:

Torpedo-Shaped AUVs

  • Design: Streamlined, cylindrical hull optimized for forward motion
  • Propulsion: Rear-mounted propeller(s)
  • Use Cases: Long-range missions, oceanographic surveys, pipeline inspection
  • DOF: Primarily 6-DOF but optimized for forward motion

Hovering AUVs

  • Design: More compact, multi-thruster configuration
  • Propulsion: Multiple thrusters for omnidirectional movement
  • Use Cases: Detailed inspection, intervention tasks, confined spaces
  • DOF: Full 6-DOF (surge, sway, heave, roll, pitch, yaw)

Typical Sensors: - Doppler Velocity Log (DVL) for velocity and altitude - Inertial Navigation System (INS) / IMU - Depth sensor / pressure transducer - Sonar (imaging, multibeam, side-scan, forward-looking) - Cameras (visible light, low-light) - CTD (Conductivity, Temperature, Depth) - Hydrophones

Remotely Operated Vehicles (ROVs)

ROVs are tethered underwater robots controlled by operators on the surface.

Characteristics: - Tether: Physical cable for power and communication - Control: Real-time operator control with varying levels of automation - DOF: Typically 4-6 DOF depending on thruster configuration - Power: Supplied via tether (mission duration limited by surface support) - Use Cases: Deep-sea exploration, underwater construction, ship hull inspection, scientific research

Common Configurations: - Observation-class ROVs: Lightweight, for inspection - Work-class ROVs: Heavy-duty, with manipulators - Hybrid ROVs/AUVs: Can operate in both modes

Underwater Gliders

Gliders are a special class of AUV that use buoyancy control for propulsion.

Characteristics: - Propulsion: Buoyancy engine (no propeller) - Motion: Sawtooth pattern through water column - Endurance: Long-duration missions, depending on vehicle design - Speed: Slow relative to propeller-driven vehicles - Use Cases: Long-duration oceanographic monitoring, large-scale surveys - Sensors: Typically CTD, oxygen sensors, fluorometers, acoustic sensors

Specialized Platforms

Autonomous Sailboats

Unmanned sailing vessels using wind power for propulsion.

  • Propulsion: Wind-powered sail with autonomous control
  • Endurance: Long endurance with proper design
  • Use Cases: Ocean monitoring, long-duration surveys, racing competitions
  • Control Challenges: Wind prediction, sail trim optimization, path planning

Intervention Vehicles

Underwater vehicles equipped with manipulators for interaction tasks.

  • Manipulators: Robotic arms (typically 1-2 per vehicle)
  • End Effectors: Grippers, cutters, sensors, tools
  • Use Cases: Valve turning, sample collection, cable laying, underwater construction

Bio-Inspired Vehicles

Vehicles that mimic marine animal locomotion.

  • Biomimetic fish: Fin-based propulsion
  • Turtle robots: Flipper-based propulsion
  • Jellyfish robots: Pulsed propulsion
  • Use Cases: Research, stealth operations, efficient low-speed propulsion

Vehicle Comparison

Compare vehicles using measurable, documented factors from manufacturers and field reports:

  • Operating environment and depth rating
  • Mission duration and energy source
  • Required degrees of freedom and maneuverability
  • Communications constraints
  • Payload capacity and integration needs

This page was last updated: December 30, 2025