SeaSlug: A high-uptime, long-deployment mobile marine sensor platform

This work describes a new autonomous surface vessel (ASV) for marine sensing applications. It provides the capabilities necessary for long-duration data-collection missions while having minimal upfront and operational costs. It has been optimized for both low-power and low-speed operation in order to meet long-duration mission requirements. Both air data and marine sensors as part of its standard sensor suite. Additional sensors can be integrated into external payload bays that provide both water and air access. Remote control and mission retargeting is provided by the open-source QGroundControl software. Xtend modems allow for long-range remote telemetry recording and analysis along with mission retargeting. This platform is validated by real-world autonomous tests demonstrating the feasibility of the L+2 control law. In these experimental tests, the SeaSlug was able to track a straight line to with an RMS crosstrack error of 0.98m and RMS heading error of 2.6◦.