Title: Testing SPARUS II AUV, an open platform for industrial, scientific and academic applications,
Abstract: This paper describes the experience of preparing and testing the SPARUS II
AUV in different applications. The AUV was designed as a lightweight vehicle
combining the classical torpedo-shape features with the hovering capability.
The robot has a payload area to allow the integration of different equipment
depending on the application. The software architecture is based on ROS, an
open framework that allows an easy integration of many devices and systems. Its
flexibility, easy operation and openness makes the SPARUS II AUV a multipurpose
platform that can adapt to industrial, scientific and academic applications.
Five units were developed in 2014, and different teams used and adapted the
platform for different applications. The paper describes some of the
experiences in preparing and testing this open platform to different
applications.