Design and Development of the MeCO Open-Source Autonomous Underwater Vehicle
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arXiv
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| Main Authors: | , , , , , , , , |
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| Format: | Preprint |
| Published: |
2025
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| _version_ | 1866912274230280192 |
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| author | Widhalm, David Ohnsted, Cory Knutson, Corey Kutzke, Demetrious Singh, Sakshi Mukherjee, Rishi Schwidder, Grant Wu, Ying-Kun Sattar, Junaed |
| author_facet | Widhalm, David Ohnsted, Cory Knutson, Corey Kutzke, Demetrious Singh, Sakshi Mukherjee, Rishi Schwidder, Grant Wu, Ying-Kun Sattar, Junaed |
| contents | We present MeCO, the Medium Cost Open-source autonomous underwater vehicle (AUV), a versatile autonomous vehicle designed to support research and development in underwater human-robot interaction (UHRI) and marine robotics in general. An inexpensive platform to build compared to similarly-capable AUVs, the MeCO design and software are released under open-source licenses, making it a cost effective, extensible, and open platform. It is equipped with UHRI-focused systems, such as front and side facing displays, light-based communication devices, a transducer for acoustic interaction, and stereo vision, in addition to typical AUV sensing and actuation components. Additionally, MeCO is capable of real-time deep learning inference using the latest edge computing devices, while maintaining low-latency, closed-loop control through high-performance microcontrollers. MeCO is designed from the ground up for modularity in internal electronics, external payloads, and software architecture, exploiting open-source robotics and containerarization tools. We demonstrate the diverse capabilities of MeCO through simulated, closed-water, and open-water experiments. All resources necessary to build and run MeCO, including software and hardware design, have been made publicly available. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2503_10928 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Design and Development of the MeCO Open-Source Autonomous Underwater Vehicle Widhalm, David Ohnsted, Cory Knutson, Corey Kutzke, Demetrious Singh, Sakshi Mukherjee, Rishi Schwidder, Grant Wu, Ying-Kun Sattar, Junaed Robotics We present MeCO, the Medium Cost Open-source autonomous underwater vehicle (AUV), a versatile autonomous vehicle designed to support research and development in underwater human-robot interaction (UHRI) and marine robotics in general. An inexpensive platform to build compared to similarly-capable AUVs, the MeCO design and software are released under open-source licenses, making it a cost effective, extensible, and open platform. It is equipped with UHRI-focused systems, such as front and side facing displays, light-based communication devices, a transducer for acoustic interaction, and stereo vision, in addition to typical AUV sensing and actuation components. Additionally, MeCO is capable of real-time deep learning inference using the latest edge computing devices, while maintaining low-latency, closed-loop control through high-performance microcontrollers. MeCO is designed from the ground up for modularity in internal electronics, external payloads, and software architecture, exploiting open-source robotics and containerarization tools. We demonstrate the diverse capabilities of MeCO through simulated, closed-water, and open-water experiments. All resources necessary to build and run MeCO, including software and hardware design, have been made publicly available. |
| title | Design and Development of the MeCO Open-Source Autonomous Underwater Vehicle |
| topic | Robotics |
| url | https://arxiv.org/abs/2503.10928 |