Towards Modular and Accessible AUV Systems

Mingxi Zhou; Farhang Naderi; Yuewei Fu; Tony Jacob; Lin Zhao; Manavi Panjnani; Chengzhi Yuan; William McConnell; Emir Cem Gezer

doi:10.1109/AUV61864.2024.11030404

Towards Modular and Accessible AUV Systems

Robotics 2025-09-30 v1

Authors: Mingxi Zhou , Farhang Naderi , Yuewei Fu , Tony Jacob , Lin Zhao , Manavi Panjnani , Chengzhi Yuan , William McConnell , Emir Cem Gezer

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Abstract

This paper reports the development of a new open-access modular framework, called Marine Vehicle Packages (MVP), for Autonomous Underwater Vehicles. The framework consists of both software and hardware designs allowing easy construction of AUV for research with increased customizability and sufficient payload capacity. This paper will present the scalable hardware system design and the modular software design architecture. New features, such as articulated thruster integration and high-level Graphic User Interface will be discussed. Both simulation and field experiments results are shown to highlight the performance and compatibility of the MVP.

Keywords

unmanned aerial vehicle compiler optimization

Cite

@article{arxiv.2509.24864,
  title  = {Towards Modular and Accessible AUV Systems},
  author = {Mingxi Zhou and Farhang Naderi and Yuewei Fu and Tony Jacob and Lin Zhao and Manavi Panjnani and Chengzhi Yuan and William McConnell and Emir Cem Gezer},
  journal= {arXiv preprint arXiv:2509.24864},
  year   = {2025}
}

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6 pages, accepted by 2024 IEEE/OES Autonomous Underwater Vehicles Symposium (AUV)

Towards Modular and Accessible AUV Systems

Abstract

Keywords

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