Framework for Combining Multiple Lightweight Underwater Vehicles into Super Underwater Vehicle

This paper investigates the potential of using multiple, rigidly interconnected lightweight underwater vehicles (LUVs) as a cheaper alternative to using a single vehicle for mapping and monitoring. The objective is to develop a prototype super underwater vehicle (SUV) demonstrating the proficiency of the multi-vehicle approach. This includes the definition of a framework for SUV control and a demonstration of a prototype SUV consisting of two remotely operated vehicles (ROVs) with supporting experimental results from using the SUV for underwater hyperspectral imaging of macroalgae in an Arctic habitat in Kongsfjorden, Svalbard.