NemeSys: Toward Online Underwater Exploration with Remote Operator-in-the-loop Adaptive Autonomy
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arXiv
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| Main Authors: | , , , , |
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| Format: | Preprint |
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2025
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| _version_ | 1866914493825548288 |
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| author | Abdullah, Adnan Gupta, Alankrit Ramesh, Vaishnav Patel, Shivali Islam, Md Jahidul |
| author_facet | Abdullah, Adnan Gupta, Alankrit Ramesh, Vaishnav Patel, Shivali Islam, Md Jahidul |
| contents | Adaptive mission control and dynamic parameter reconfiguration are essential for autonomous underwater vehicles (AUVs) operating in GPS-denied, communication-limited marine environments. However, AUV platforms generally execute static, pre-programmed missions or rely on tethered connections and high-latency acoustic channels for mid-mission updates, significantly limiting their adaptability and responsiveness. In this paper, we introduce NemeSys, a novel AUV system designed to support real-time mission reconfiguration through compact magnetoelectric (ME) signaling. We present the full system design, control architecture, and a mission encoding framework that enables interactive exploration and task adaptation via low-bandwidth communication. The proposed system is validated through analytical modeling, controlled simulation tests, and real-world trials. The mid-mission retasking scenarios, evaluated using the NemeSys digital twin, demonstrate behavior switching latency below 50 ms with only a 13.2 MB peak computational overhead, making the framework suitable for deployment on edge computing hardware. Laboratory tank tests and open-water field trials further confirm stable control and reliable mission execution in dynamic underwater environments. These results establish the feasibility of online mission reconfiguration and highlight NemeSys as a promising step toward responsive, goal-driven adaptive underwater autonomy. |
| format | Preprint |
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arxiv_https___arxiv_org_abs_2507_11889 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | NemeSys: Toward Online Underwater Exploration with Remote Operator-in-the-loop Adaptive Autonomy Abdullah, Adnan Gupta, Alankrit Ramesh, Vaishnav Patel, Shivali Islam, Md Jahidul Robotics Adaptive mission control and dynamic parameter reconfiguration are essential for autonomous underwater vehicles (AUVs) operating in GPS-denied, communication-limited marine environments. However, AUV platforms generally execute static, pre-programmed missions or rely on tethered connections and high-latency acoustic channels for mid-mission updates, significantly limiting their adaptability and responsiveness. In this paper, we introduce NemeSys, a novel AUV system designed to support real-time mission reconfiguration through compact magnetoelectric (ME) signaling. We present the full system design, control architecture, and a mission encoding framework that enables interactive exploration and task adaptation via low-bandwidth communication. The proposed system is validated through analytical modeling, controlled simulation tests, and real-world trials. The mid-mission retasking scenarios, evaluated using the NemeSys digital twin, demonstrate behavior switching latency below 50 ms with only a 13.2 MB peak computational overhead, making the framework suitable for deployment on edge computing hardware. Laboratory tank tests and open-water field trials further confirm stable control and reliable mission execution in dynamic underwater environments. These results establish the feasibility of online mission reconfiguration and highlight NemeSys as a promising step toward responsive, goal-driven adaptive underwater autonomy. |
| title | NemeSys: Toward Online Underwater Exploration with Remote Operator-in-the-loop Adaptive Autonomy |
| topic | Robotics |
| url | https://arxiv.org/abs/2507.11889 |