Abstract
The MIT Spurdog AUV is a low-cost autonomous underwater vehicle (AUV) designed to facilitate research in multi-agent autonomy. The core vehicle costs less than $3,000 USD and utilizes commercially available or 3D-printed parts to enable easy reproduction and maintenance. Featuring a new Sequential Coupling System for modular payload integration, the Spurdog supports rapid reconfiguration and multiple modes of manufacture. This paper presents the Spurdog's mechanical, electrical, and software architecture, highlighting its potential to serve as an intermediate platform which bridges the gap between academic research and more advanced field-operable AUVs.
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BibTeX
@inproceedings{turrisi2024spurdog,
title={The Spurdog AUV: A Field Configurable and Optionally
A-Sized Low-Cost AUV},
author={Turrisi, Raymond and Huang, Haojing and Str{\"o}mstad, Filip
and Morrison, John and Papalia, Alan and Leonard, John
and Benjamin, Michael},
booktitle={IEEE/OES Autonomous Underwater Vehicles Symposium (AUV)},
year={2024},
organization={IEEE}
}