AquaChat: An LLM-Guided ROV Framework for Adaptive Inspection of Aquaculture Net Pens

TL;DR

AquaChat introduces an LLM-guided ROV framework that enables adaptive, intelligent inspection of aquaculture net pens, improving flexibility, accuracy, and efficiency in challenging underwater conditions.

Contribution

The paper presents a novel multi-layered ROV system integrating LLMs for natural language understanding and adaptive control in aquaculture inspections, a first in marine robotics.

Findings

Enhanced task flexibility and user interaction.

Improved inspection accuracy in simulated environments.

Increased operational efficiency during underwater tasks.

Abstract

Inspection of aquaculture net pens is essential for maintaining the structural integrity, biosecurity, and operational efficiency of fish farming systems. Traditional inspection approaches rely on pre-programmed missions or manual control, offering limited adaptability to dynamic underwater conditions and user-specific demands. In this study, we propose AquaChat, a novel Remotely Operated Vehicle (ROV) framework that integrates Large Language Models (LLMs) for intelligent and adaptive net pen inspection. The system features a multi-layered architecture: (1) a high-level planning layer that interprets natural language user commands using an LLM to generate symbolic task plans; (2) a mid-level task manager that translates plans into ROV control sequences; and (3) a low-level motion control layer that executes navigation and inspection tasks with precision. Real-time feedback and event-triggered replanning enhance robustness in challenging aquaculture environments. The framework is validated through experiments in both simulated and controlled aquatic environments representative of aquaculture net pens. Results demonstrate improved task flexibility, inspection accuracy, and operational efficiency. AquaChat illustrates the potential of integrating language-based AI with marine robotics to enable intelligent, user-interactive inspection systems for sustainable aquaculture operations.