The paper discusses the main methodologies and key technologies behind the ROBUST project, funded by the European Union within the Horizon 2020 framework, whose goal is the development of an autonomous underwater vehicle manipulator system for deep sea mining exploration. The work focuses on the developed control and perception framework and related mechatronics, and presents the experimental results from the sea trials in Sardinia, Italy, supporting the proposed methodologies.

The oceans cover more than two-thirds of the planet, representing the vastest part of natural resources. Nevertheless, only a fraction of the ocean depths has been explored. Within this context, this article presents the H2020 ENDURUNS project that describes a novel scientific and technological approach for prolonged underwater autonomous operations of seabed survey activities, either in the deep ocean or in coastal areas. The proposed approach combines a hybrid Autonomous Underwater Vehicle capable of moving using either thrusters or as a sea glider, combined with an Unmanned Surface Vehicle equipped with satellite communication facilities for interaction with a land station. Both vehicles are equipped with energy packs that combine hydrogen fuel cells and Li-ion batteries to provide extended duration of the survey operations. The Unmanned Surface Vehicle employs photovoltaic panels to increase the autonomy of the vehicle. Since these missions generate a large amount of data, both vehicles are equipped with onboard Central Processing units capable of executing data analysis and compression algorithms for the semantic classification and transmission of the acquired data.