An open-source underwater robotics platform for aquatic research & exploration

Underwater research is often constrained by the specialized expertise, high costs, and dedicated facilities required for traditional aquatic experiments, limiting participation from smaller research groups. In response, we introduce an open-source miniature underwater robot (MUR) platform that broadens access to aquatic research and exploration while simplifying experimental implementation. Built on a fully networked ROS ecosystem, our platform integrates advanced sensing, control, and versatile communication capabilities to support real-time data acquisition and sensor fusion. Its modular 5-degree-of-freedom propulsion system enables precise position, yaw, and roll control, with passive pitch stability through neutral buoyancy supporting steady station-keeping and dynamic trajectory tracking. Equipped with multiple cameras, the system facilitates advanced perception tasks essential for complex underwater operations. Moreover, WiFi, radio, and high-speed Ethernet tethering ensure communication in shallow water environments, enabling both autonomous operation and tethered deployments. This open, modular architecture reduces barriers to underwater research while promoting collaborative innovation and establishing a shared research infrastructure for marine science and robotics.