Advancing Accessible Underwater Robotics: The Mini-Girona I-AUV at RAMI 2025

• URL: http://arxiv.org/abs/2609.02605v2
• Date: Wed, 09 Sep 2026 09:32:25 GMT
• Title: Advancing Accessible Underwater Robotics: The Mini-Girona I-AUV at RAMI 2025
• Abstract summary: The Mini-Girona is designed to bridge the gap between costly, specialized research AUVs and basic Remotely Operated Vehicles (ROVs)<n>The Mini-Girona integrates advanced components such as a 5-DOF manipulator arm, stereo vision, and AI-driven processing for autonomous navigation and intervention tasks.<n>Despite challenges such as thermal management issues and restricted team access, the Mini-Girona achieved second place overall, excelling in vision-based perception and intervention tasks.
• Score: 0.5879134412955047
• License: http://creativecommons.org/licenses/by/4.0/
• Abstract: The Mini-Girona Intervention Autonomous Underwater Vehicle (I-AUV) represents an advancement in accessible underwater robotics, designed to bridge the gap between costly, specialized research AUVs and basic Remotely Operated Vehicles (ROVs). Developed with a focus on affordability and usability, the Mini-Girona, priced at approximately $50,000, integrates advanced components such as a 5-DOF manipulator arm, stereo vision, and AI-driven processing for autonomous navigation and intervention tasks. This paper presents the design and development of the Mini-Girona, detailing its performance during the RAMI 2025 student competition. Despite challenges such as thermal management issues and restricted team access, the Mini-Girona achieved second place overall, excelling in vision-based perception and intervention tasks. This work highlights the platform's potential as a tool for underwater robotics research and education, fostering innovation in real-world underwater applications.

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