Underwater Robot Manipulation: Advances, Challenges and Prospective Ventures
Sara Aldhaheri, Giulia De Masi, \`Eric Pairet, Paola Ard\'on

TL;DR
This paper reviews recent advances, challenges, and future research directions in underwater robot manipulation, emphasizing the technical and environmental hurdles faced by autonomous underwater vehicles and proposing avenues for enhancing their autonomy.
Contribution
It provides a comprehensive discussion on current research limitations and identifies promising research directions to improve autonomous underwater manipulation capabilities.
Findings
Identification of key challenges in underwater manipulation
Analysis of environmental factors affecting robot stability
Proposals for future research to enhance autonomy
Abstract
Underwater manipulation is one of the most remarkable ongoing research subjects in robotics. \acp{I-AUV} not only have to cope with the technical challenges associated with traditional manipulation tasks but do so while currents and waves perturb the stability of the vehicle, and low-light, turbid water conditions impede perceiving the surroundings. Certainly, the dynamic nature and our limited understanding of the marine environment hinder the autonomous performance of underwater robot manipulation. This manuscript provides a discussion on previous research and the limiting factors that impose on the long-envisioned prospects of autonomous underwater manipulation to finally highlight research directions that have the potential to improve the autonomy capabilities of I-AUV.
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Taxonomy
TopicsUnderwater Vehicles and Communication Systems · Water Quality Monitoring Technologies · Maritime Navigation and Safety
