Abstract
This paper presents some Underwater Robotics activities carried on at the Naval Automation Institute (IAN) of the Italian National Research Council. In particular it discusses the set-up of a testbed underwater vehicle (ROBY) devoted to experimental activity in the field of oceanology. ROBY is designed to develop autonomous or semi-autonomous functions although a physical link exists between the control station (MASTER) and the actual widerwater module (SLAVE). The SLAVE module has to accomplish three main tasks: communications handling, data logging and tight loop control. The MASTER module performs high level operations like navigation planning and control. The implementation of such a distributed architecture has also required the development of high speed reliable communication channels.
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