studies-rov

Studies of ROV concepts 2026

1 - Inertial Sensor Self-Calibration Module Using Attitude Heading and Reference System for Autonomous Underwater Vehicle Navigation

Authors: Abdul Aziz Abd Kadir, Herdawatie Abdul Kadir This research enhances navigation accuracy in Autonomous Underwater Vehicles (AUVs), which rely on Inertial Measurement Units (IMUs) for orientation and motion tracking but are prone to noise-induced inaccuracies. To mitigate this, an Inertial Sensor Self- Calibration Module was developed to dynamically adjust calibration parameters in real time. A comparative analysis of calibration and filtering techniques, including Magnetic Calibration, EKF variants, and AHRS, revealed the AHRS filter as the most precise, reducing angular error by up to 97.81%. These results underscore the AHRS filter's effectiveness in improving AUV navigation in challenging underwater conditions, offering broader implications for ocean exploration and environmental monitoring.

2 - Development of a Cost-Effective UUV Localisation System Integrable with Aquaculture Infrastructure

Authors: Thein Than Tun, Loulin Huang, and Mark Anthony Preece Unmanned Underwater Vehicles (UUVs) are being used in aquaculture farms for difficult tasks like inspecting fish net-pens. They are mostly remote-operated, but using them autonomously faces challenges, mainly high costs and sensor reliability. A new system using April-Tags for localization offers a budget-friendly solution for testing UUV autonomy. It can achieve precise accuracy with minimal infrastructure changes. This could help demonstrate the benefits of autonomous UUVs to stakeholders for future adoption.

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3 - Underwater Object Recovery Using a Hybrid-Controlled ROV with Deep Learning-Based Perception

Authors: Inés Pérez-Edo, Salvador López-Barajas, Raúl Marín-Prades, and Pedro J. Sanz Large ROVs/AUVs require costly support infrastructure, prompting interest in lightweight, modular alternatives. This article proposes a hybrid-controlled ROV architecture for known-object recovery, integrating autonomous perception, natural language interaction via a ROS-based agent, and low-level control for vehicle dynamics and autonomous behaviors like approach and grasping. Evaluated in simulation, a 12×8×5 m test tank, and harbor scenarios, the system successfully recovered a black box using a BlueROV2—demonstrating reduced operational risk, complexity, and cost for underwater interventions.

4 - Design and Development of a Sensor-Enhanced Remotely Operated Underwater Vehicle (ROUV) Platform for Environmental Monitoring

Authors: Dimitrios Tziourtzioumis, George Minos, Triantafyllia Anagnostaki, Eleftherios Kenanidis, and Theodoros Kosmanis This study introduces a modular, sensor-enhanced remotely operated underwater vehicle (ROUV) designed for environmental monitoring and aquaculture. Equipped with sensors for temperature, pH, dissolved oxygen (DO), and electrical conductivity (EC), along with real-time data acquisition, the system prioritizes modularity, reproducibility, and robustness. Field tests conducted at an aquaculture site in the North Aegean Sea during 2025 demonstrated depth-resolved measurements with high accuracy. The platform achieved stable and repeatable performance in real-world conditions.

5 - Underwater Antenna Technologies with Emphasis on Submarine and Autonomous Underwater Vehicles (AUVs)

Authors: Dimitrios G. Arnaoutoglou, Tzichat M. Empliouk, Dimitrios-Naoum Papamoschou, Yiannis Kyriacou, Andreas Papanastasiou, Theodoros N. F. Kaifas, and George A. Kyriacou This article provides a comprehensive review of antenna types for future underwater communication and sensing systems, evaluating their performance for Autonomous Underwater Vehicles. It examines magnetic induction coils, electrically short dipoles, wideband traveling-wave antennas, printed planar antennas, and magnetoelectric resonators, comparing footprint, operating frequency, bandwidth, and realized gain. The analysis highlights trade-offs between miniaturization and radiation efficiency and underscores the need for innovative designs to overcome underwater propagation limits.

8 - Reinforcement-Learning-Based Adaptive PID Depth Control for Underwater Vehicles Against Buoyancy Variations

Authors: Jian Wang, Shuxue Yan, Honghao Bao, Cong Chen, Deyong Yu, Jixu Li, Xi Chen, Rui Dou, Yuangui Tang, and Shuo Li This paper proposes a hybrid control framework combining Proximal Policy Optimization (PPO) with adaptive Proportional-Integral-Derivative (PID) tuning to address buoyancy-induced instability in sampling AUVs. PPO dynamically adjusts PID parameters online, while safety mechanisms protect actuators. A dual-error state and actuator command buffering mitigate system lag and inertia. Simulations and experiments (pool and field tests) show superior performance over conventional PID and pure PPO: faster convergence, lower steady-state error, and smoother control signals, demonstrating robustness under real hydrodynamic disturbances.

9 - Resistance Analysis of Remotely Operated Vehicle (ROV)

Indonesia's extensive underwater resources and infrastructure require advanced tools, such as Remotely Operated Vehicles (ROVs), for safe, efficient exploration and maintenance. This study investigates the hydrodynamic drag characteristics of the locally developed SN-01 ROV (Segara Nauta) using Computational Fluid Dynamics (CFD). The results highlight the critical impact of motion direction and speed on resistance, informing engine selection and service speed optimization. Ultimately, the findings support a more efficient, tailored ROV design for sustainable maritime operations in Indonesia.

6 - Recent Advances in Underwater Energy Systems and Wireless Power Transfer for Autonomous Underwater Vehicle Charging

Authors: Ramamurthi Sekar, Narayanamoorthi Rajamanickam, Hassan Z. Al Garni, Jamal Aldahmashi, and Ahmed Emara This article reviews recent advances in underwater wireless power transfer (UWPT) for autonomous underwater vehicles (AUVs), driven by growing demand for long-endurance offshore infrastructure maintenance and oceanographic surveillance. Conventional recharging methods hinder true autonomy, making UWPT a promising alternative. The paper surveys key UWPT components: marine power sources, power converter and compensation topologies, and magnetic coupler designs. It also addresses critical engineering challenges unique to underwater environments.

7 - ORCA: AI-powered Autonomous Underwater Vehicle for Subaquatic Exploration

Authors: Oskar Natan, Wiwit Suryanto, Andi Dharmawan, Rifda Hakimasari, Zaidan Hakim ORCA is an Autonomous Underwater Vehicle designed to perform missions independently, addressing navigation, exploration, and interaction with the underwater environment. The project emphasizes a complete development cycle from design to manufacturing, using Inventor for CAD and fabrication via Computer Numerical Control (CNC) machining, laser cutting, and 3D printing, while advancing control systems, Proportional Integral Derivative (PID) controllers, and vision. It also expands to environmental perception, object detection, deep learning, and path-planning, enabling autonomous navigation, obstacle avoidance, object detection, and payload manipulation with a gripper.

10 - A Control-Oriented Thruster Management Framework for Fault-Tolerant Propulsion of Remotely Operated Vehicles

Authors: Lu Wang, Yi Wu, Chao Fang, Jie Gao, Yonggang Gu, Chao Zhai, and Zhen Zhang This paper addresses limitations of conventional static thrust allocation in ROV propulsion, which struggles with real-world actuator imperfections like cavitation-induced thrust loss, dead zones, inter-thruster coupling, and partial failures. Instead of treating propulsion management as a static force distribution problem, the authors propose a control-oriented framework that embeds actuator dynamics and thrust execution uncertainty directly into the feedback loop. Experiments on an ROV platform show superior thrust executability, reduced coupling disturbances, and robust performance during thruster failure compared to traditional methods.

11 - Volumetric Path Planning and Visualization for ROV-Based Forward-Looking Sonar Scanning of 3D Water Areas

Authors: Yu-Cheng Chou, and Wei-Shan Chang This study introduces a deterministic, geometry-driven framework for volumetric path planning of ROVs equipped with multibeam forward-looking sonar in predefined circular and rectangular underwater volumes. It generates layered planar scan trajectories by integrating sonar parameters (detection range, horizontal/vertical beamwidths) and volume geometry, analytically estimates mission duration using path length and vehicle kinematics, and proposes a distance-based target position certainty metric, combined with the active sonar equation, to assess scan effectiveness and estimate likely target locations.

12 - Performance analysis of a micro underwater Remotely Operated Vehicle (ROV)

Authors: Fauzal Naim Zohedi, Chan Yeow Chuan, Mohd Shahrieel Mohd Aras, Alias Khamis, Zairi Ismael Rizman This paper presents an underwater Remote Operated Vehicle (ROV) designed to replace human divers in hazardous offshore tasks by mitigating risks and costs associated with underwater operations. This ROV incorporates a robust frame, waterproof endoscopic camera, and pressure/depth sensor to withstand submersion. Testing in a laboratory pool confirmed stable performance: 90% negative buoyancy enabled reliable descent and ascent, while consistent velocity and acceleration were achieved in forward, backward, and vertical motion. Angling the horizontal thrusters at 45° improved maneuverability and turning speed.

13 - A Multidisciplinary Optimization Method for the Wing of Autonomous Underwater Vehicle

Author: Qi Chen This paper presents a multidisciplinary design optimization method that integrates aerodynamic and structural analyses to enhance design collaboration. A parametric model of the AUV wing was developed using CATIA, a software suite created by Dassault Systèmes that is widely used for computer-aided design (CAD). Following this, grid generation was carried out in ICEM Surf, a powerful tool for advanced surface modeling. A computational fluid dynamics simulation was conducted to evaluate the hydrodynamic performance. The hydrodynamic loads were then analyzed and optimized, resulting in a reduction of the wing structure's mass while maintaining safety. This approach provides a reliable pathway for improving AUV performance and design efficiency.