FAST PROTOTYPING OF AN AUTONOMOUS UNDERWATER VEHICLE WITH THE CUBESYSTEM

This paper describes the Jacobs autonomous underwater vehicle (Jacobs-Atlas-AUV). The vehicle has been largely developed using the CubeSystem, a collection of hard- and software components for fast robot prototyping. The CubeSystem has previously been used for the development of various mobile robots, but never for an underwater system. As the development of the Jacobs-Atlas-AUV shows, a significant amount of component reuse across significantly different application domains is possible for autonomous robots.