Abstract

The project is funded by the Office of Naval Research under a contract entiltled Underwater Robots. The effort is interesting in its own right, and complements projects involving underwater vehicles such as those at the University of New Hampshire and the Naval Ocean Systems Center in San Diego. These other efforts are interesting to us, but we feel they are incomplete. Their current control systems are very simple, typically incorporating quite small programs on one or a few microprocessors and implementing simple dead reckoning navigation or terrain following behavior.