ReefGlider: A highly maneuverable vectored buoyancy engine based underwater robot
Kevin Macauley, Levi Cai, Peter Adamczyk, Yogesh Girdhar

TL;DR
ReefGlider is an innovative underwater robot that combines buoyancy-based control with enhanced maneuverability, enabling efficient, long-term reef monitoring with minimal environmental disturbance.
Contribution
It introduces a novel buoyancy-driven AUV with vectored buoyancy control, bridging the gap between traditional thruster-based AUVs and passive gliders.
Findings
High maneuverability demonstrated in reef environments
Low power consumption compared to thruster-based AUVs
Minimal environmental disturbance during operation
Abstract
There exists a capability gap in the design of currently available autonomous underwater vehicles (AUV). Most AUVs use a set of thrusters, and optionally control surfaces, to control their depth and pose. AUVs utilizing thrusters can be highly maneuverable, making them well-suited to operate in complex environments such as in close-proximity to coral reefs. However, they are inherently power-inefficient and produce significant noise and disturbance. Underwater gliders, on the other hand, use changes in buoyancy and center of mass, in combination with a control surface to move around. They are extremely power efficient but not very maneuverable. Gliders are designed for long-range missions that do not require precision maneuvering. Furthermore, since gliders only activate the buoyancy engine for small time intervals, they do not disturb the environment and can also be used for passive…
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Taxonomy
TopicsUnderwater Vehicles and Communication Systems · Water Quality Monitoring Technologies · Maritime Navigation and Safety
