MARS Benthic Rover: In-situ rapid proto-testing on the Monterey Accelerated Research System

The Benthic Rover is an autonomous, bottom-crawling vehicle being developed at the Monterey Bay Aquarium Research Institute (MBARI) to conduct long-term deep-ocean ecological research. In 2009 MBARI researchers deployed the Rover on the Monterey Accelerated Research System (MARS) cabled observatory for component and operational testing. MARS is located near-shore in the Monterey Bay near Monterey, CA, at a depth of approximately 900 meters, providing the power reliability and network accessibility similar to an on-shore laboratory. By enabling immediate feedback and the ability to quickly re-program control software and re-configure mission scripts, MARS facilitates a kind of “in-situ rapid proto-testing”. MBARI researchers were able to run numerous experimental procedures and analyze results in a relatively short timeframe, converging on desired operational profiles quickly and at very low cost. This paper will cover recent development work on the Benthic Rover with emphasis on the deployment and testing on MARS.