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USA

Autonomous Undersea Systems Institute (AUSI), Lee, NH: a non-profit, independent research institute in Lee, New Hampshire, focuses on autonomous underwater vehicles (AUVs) and related systems.
AUSI also has ties to other institutions and industry, including Northeastern University's Marine Science Center, to the University of New Hampshire, and to the University of Maine's Cooperative Distributed Problem Solving (CDPS) Research Group. (see respective entries)
Carnegie Mellon University, Pittsburg, PA
- The Robotics Institute
  - Project on autonomous navigation: Navlab Project
  - Projects overview (autonomous systems, medical robots, virtual reality)
  - Robotics and Vision Sampler Page Index
  - Task Control Architecture (TCA): provides a framework and software utilities for building robot systems that need to combine deliberative and reactive control. TCA provides high-level support for distributed communications via message-passing, hierarchical task decomposition and sequencing, resource management, execution monitoring, and error recovery.
Florida Atlantic University
- Advanced Marine Systems Laboratory ( Department of Ocean Engineering)
  This lab is dedicated to the R & D of Autonomous Underwater Vehicles (AUVs) for military and scientific missions.
  - AUV home page: Ocean Voyager II, Ocean Explorer
  - A Passive Sonar System for UUV Surveillance Tasks, project geared towards enhanced understanding of shallow water ambient noise
- Center for Acoustics and Vibration Sonar CHIRP Lab
  - Acoustic Modem: Objective is to provide cost effective, reliable, high data rate underwater communications in shallow water between a UUV and a surface support ship, between UUVs, and between a UUV and underwater instruments such as long baseline navigation systems and moored scientific instruments.
Johns Hopkins University, Dept. of Mechanical Engineering, Baltimore, MD
- JANUS, Johns Hopkins Autonomously Navigating Underwater System

KISS Institute for Practical Robotics, Reston, VA
- DRIP (Dinky Robot in Pool): autonomous underwater robot
Lockheed Martin company
- High Performance Computing (HPC) Directorate of Sanders, Nashua, NH
  - Unmanned Underwater Vehicle (UUV): The objective of the UUV program is to implement a scalable high-performance embedded signal processor for UUV applications.
Marine Systems Engineering Laboratory (MSEL), Lee, NH
- Marine Systems Engineering Laboratory (MSEL): MSEL research centers around intelligent ocean systems, in particular autonomous underwater vehicles (AUVs), especially intelligent AUV control, AUV control architectural issues, long-range AUV development for ocean science applications, and multiple-AUV systems and cooperative distributed problem solving.
  - EAVE-III,
    - EAVE Software Architecture
  - LRAUV - Long Range AUV
Massachusetts Institute of Technology, Cambridge, MA
- MIT Sea Grant (Home Page): The MIT Sea Grant College Program is one of 29 programs in the National Sea Grant Program network. MIT Sea Grant is also the home of The Autonomous Underwater Vehicles Laboratory, where small, unmanned robot submarines are designed, built and tested.
- AUV Laboratory
  - AUV Lab vehicles: Odyssey IIb, CETUS [New!] , Odyssey I, Odyssey II, Sea Squirt
  - Orca project (Winners of 1998 INt'l AUV Competetion!)
  - AUV Odyssey II
    - The Search for the Giant Squid (Kaikoura Canyon, New Zealand)
    - Haro Strait Tidal Front Mapping
  - Hermes Project: micro-AUV, dimensions 29"x 10.5" x 3.5"
  - Robo-Lobster: is a benthic micro-AUV that is being used to test biologically-inspired algorithms for AUV guidance using chemical signals. The vehicle is designed to mimic the basic features of a lobster relevant to chemical sensing and associated behaviors.
  - RoboTuna: designed and built by David Barrett for his doctoral thesis, mimics the shape and motion of a small tuna.
    - The Tech Robotuna Project To Model Real Fish (by D. Isla, Oct 95)
- AUV Publications / Technical Reports
- Technology Review Online: Down to the Sea in Robots (R. Fricke)
Monterey Bay Aquarium Research Institute (MBARI), Monterey, CA
- Monterey Bay Aquarium Research Institute
  A unique private non-profit oceanographic institute with the goal of developing state-of-the-art equipment, instrumentation, systems and methods of scientific research in the deep waters of the ocean.
- Underwater Robotics Project
NASA Ames RC Intelligent Mechanisms Group, Moffet Field, CA
- Telepresence Remotely Operated Vehicle (TROV) project
  is a remote operations experiment which is focused on testing virtual environment based teleoperations techniques.
  - TROVdescription(modified Phantom II)
  - Virtual Environment Vehicle Interface
  - Article: NASA New Underwater Rover Tested, Astrogram, 5-31-96
Naval Command Control and Ocean Surveillance Center (NCCOSC)
- Research, Development, Test, and Evaluation Division (NRaD)
- Space and Naval Warfare Systems Center, San Diego
  - Robotics (see section on Unmanned Undersea Vehicles): DSSN, AUSS, ATV, EAVE, SCAT, etc.
  - Flying Plug
  - Free Swimmer (program currently inactive)
Naval Postgraduate School (NPS), Monterey, CA
- Center for AUV Research (Home page)
- Phoenix AUV
  - NPS Phoenix AUV Related Thesis Work (archives by abstract/author)
- Virtual World for an Autonomous Underwater Vehicle (AUV)
  (AUVvirtual world software and documentation, papers, slides; by D. Brutzman)
Naval Undersea Warfare Center, Newport Division
Research and development involving autonomous Unmanned Underwater Vehicles (UUV) and key underwater technologies.
- 21 and 26 inch diameter Unmanned Underwater Vehicles
  (Technical details, as well as points of contact for each topic: Navigation, Low Speed Control & Hydrodynamic Simulation, Vehicle Controller, Intelligent Controller, Variable Ballast System, Acoustic Communications, Thrust Vectored Pump Jet, Motor.)
Naval Research Laboratory, Transmission Technology Branch
- Submarine Communications ( AUVcommunications)
Princeton University, Princeton, NJ
- Underwater Vehicle Dynamics & Control Lab
Stanford University, Stanford, CA
- Aerospace Robotics Laboratory
  - Underwater Robotics: OTTER (Ocean Technology Testbed for Engineering Research) vehicle (also, information on Critical Technologies Experimental Platforms, Experimental Demonstrations to Date, Experimental Demonstrations in Progress )
University of Hawaii, Honolulu, HI
- Autonomous Systems Laboratory
  - AUV ODIN (Omni Directional Intelligent Navigator)
  - Technical Reports, Autonomous Systems Laboratory (contact: dr. J. Yuh)
  - IGW Graphics Simulation of ODIN
  - Pictures and documentation about ODIN (under construction)
University of Michigan, Ann Arbor, MI
- RALPH (Ogasawara, G.H., Russell, S.J., "Real-time, decision-theoretic control of an autonomous underwater vehicle.") - this is a part of the Comparative Reference of Cognitive Architectures
- RALPH-MEA controlled an Autonomous Underwater Vehicle (AUV), providing a testbed. It allowed exploration of obstacle avoidance and surveying, but did not include any manipulation of the environment.
University of Maine, Orono, ME
- Cooperative Distributed Problem Solving (CDPS) Research Group
  Primary domain is cooperative problem solving by groups of autonomous underwater vehicles (AUVs). Ongoing research projects in intelligent AUV control, communication between autonomous agents, and coordination of problem solving by groups of autonomous agents.
- CDPSResearch Projects page
  - Multiple AUVs MAUV/CoDA project
  - Orca Project Home Page
    The Orca project's goal is to create an intelligent, robust, adaptive controller for autonomous underwater vehicles (AUVs). The program will be used first on the MSEL EAVE (Experimental Autonomous VEhicle) AUVs and on MSEL's long-range AUV (LRAUV).
  - Orca: Intelligent Adaptive Reasoning for AUV control
  - CDPS Group Publications (list, papers, slides, download PostScript/HTML; as of 9/97)
  - Students' Theses
University ofPennsylvania, Philadelphia, PA
- General Robotics and Active Sensory Perception (GRASP)
  - GRASP Lab Research Projects (list of projects; for each an abstract and list of related publications is given)
- Subsea Teleprogramming
  The motivation for this research comes from a desire to perform subsea manipulative tasks under operator control via an acoustic communications link.
University of Southwestern Louisiana, Lafayette, LA
- Robotics and Automation Laboratory
  - Autonomous Underwater Vehicle project
    (programs for collision avoidance and object recognition)
  - 1996 Technical Reports
    (AUV-related: TR-96-1-1, TR-96-1-2, TR-96-1-7, TR-96-1-8, TR-96-2-1)
  - 1997 Technical Reports
    (AUV-related: TR-97-1-24)
  - 1998 Technical Reports
    (AUV-related: TR-98-1-2)
Woods Hole Oceanographics Institution (WHOI), Woods Hole, MA
- Woods Hole Oceanographic Institution
  A private, independent, not-for-profit corporation dedicated to research and higher education at the frontiers of ocean science.
- Deep Submergence Laboratory
  - Underwater Vehicles
    - ROVJason/Medea, ARGO-II
    - Autonomous Benthic Explorer (ABE)
      designed to address the need for long term monitoring of the seafloor.
- Oceanographic Systems Laboratory
  - REMUS (Remote Environmental Monitoring UnitS) (low cost UUVs designed for coastal monitoring and multiple vehicle survey operations)

CANADA

International Submarine Engineering,
Ltd. (ISE), Vancouver
International Submarine Engineering (formerly International Submarine Engineering Research - ISER)
ISER has developed the following AUVs: ARCS AUV , semi-submersible Dolphin(a.k.a. U.S. Navy operated Orca), Theseus AUV, Aurora (under development)AUV research overview

Simon Fraser University, Burnaby
- Underwater Research Laboratory
  AUVs: PURL (Probe for the Underwater Research Laboratory), PURL II, Ray, Sunfish