Sea Trekker: A Dual-Mode USV for Autonomous Floating Debris Collection Using YOLO and UWB Localization

Abstract Unmanned Surface Vehicles (USVs) are autonomous or remotely operated watercraft used in various marine applications, including surveillance, environmental monitoring, and debris collection. They offer efficient, low-risk alternatives to manned operations in challenging aquatic environments. SeaTrekker is a dual-mode USV developed by Team Globulocytosis 2.0 at the Manipal Academy of Higher Education, Dubai, for efficient aquatic debris collection. Designed with a curved catamaran-style dual-hull inspired by Bernoulli’s principle, it optimizes hydrodynamic flow while guiding debris into a passive net-based intake system. The USV operates in both teleoperated and autonomous modes, integrating YOLO-based object detection, Intel RealSense depth sensing, and UWB localization to identify and retrieve floating objects such as soda cans. Its modular aluminum structure and 3D-printed ABS hulls support sustainability and ease of assembly. During testing, SeaTrekker collected up to 22 cans per minute manually and 9 objects per minute autonomously, reaching speeds of up to 10 km/h. Challenges such as water leakage and localization drift were addressed with targeted improvements. SeaTrekker won First Prize in the Teleoperated Mode at the Mubadala Innovation Challenge 2025, highlighting its technical excellence. Future enhancements aim to improve autonomy, durability, and adaptability through waterproofing, GPS integration, safer battery systems, and dataset expansion—positioning it for real-world marine cleanup missions.