Modular Controls and Instrumentation Software for Icefin ROV

Icefin is a hybrid ROV/AUV, designed to function as a robotic oceanographer in Antarctic under-ice waters. Autonomous command, control, and navigation of robotic platforms in remote sub-ice environments is highly challenging, as well as a sufficiently specialized application such that it does not benefit from the foundation of a wide community of open-source research. Here we present our approach and lessons learned in addressing this challenge through the integration of commercial off-the-shelf and open-source tool sets while working inside a framework that supports rapid, modular expansion of the vehicle's command and control software.