Optically Linked Hybrid Autonomous/Remotely Operated Vehicle  

OPTIHROV is a proof-of-concept project to demonstrate a telerobotic system, |based on  an untethered, OPTIcally-connected Hybrid Autonomous/Remotely Operated Vehicle (ROV), that aims to replace light intervention Remotely Operated Vehicles (ROVs) operating at close range to networked infrastructures. The system is designed to bridge the gap between current ROVs, tethered to a Docking Station (wirelessly connected to a Shore Control Center via a cabled buoy), and the dream of the future Autonomous Underwater Intervention Vehicle.  OPTIHROV is a telerobotic system to perform inspection and light intervention tasks in potentially unknown and unstructured environments. It uses Human-Robot Interaction (HRI) methods that allow the user to guide the robot by launching a set of sensory-motion primitives performed by the robot autonomously.