Scientific impact

This project targets an innovative proof of concept demonstration at TRL 6 of a telerobotic system for Remote Inspection/Intervention in unknown environments using an Optically linked HROV system. The foreseen technical impact is multiple:


It will provide evidence about the actual performance of the promising short-range high-speed optical modems in representative industrial scenarios. This is a key technology to achieve a tetherless HROV.

It will validate the approach of a tele-robotics system relaying on launching high level commands (Undock, Connect, Plan and Go to waypoint; Grasp and turn valve, etc…), to be performed autonomously by the OPTIHROV, providing the user with visual feedback of the outcome. To achieve it, OPTIHROV will exploit technologies developed in TWINBOT project which were demonstrated in a water tank (lab environment) and not integrated altogether. In this project, these technologies will be made more robust and a strong effort will be put on their seamless integration. Their joint work in the context of the RI3SA architecture will allow integrated demonstrations at TRL 5 and 6 for the first time.

It will pave the way advancing towards the future I-AUV in a safe and controlled way, exploiting the optical link for testing in a reliable way. The OPTIHROV technology will be used in following projects to advance towards the complete I-AUV concept.


  • Roger Pi, Joan Esteba, Patryk Cieslak, Narcís Palomeras, Pedro J. Sanz, Raúl Marín, and Pere Ridao; “Optically Linked Hybrid Autonomous/Remotely Operated Vehicle, Beyond Teleoperation in a New Generation of Underwater Intervention Vehicles”;  IEEE OCeans 2023 (Limerick -Ireland)
  • Sebastian Realpe, Narcis Palomeras, Pere Ridao; “Shared Autonomy for Mapping and Exploration of underwater environments using an HROV”; MARTECH 2023, 2023 Castellón – Spain.
  • J. González, J. Echague, G. Lunghi, J. V. Martí, R. Marin, A. Solis, A. Pino, P. J. Sanz. Further Teleoperated Experiments with an Underwater Mobile Manipulator via Acoustic Modem: Modem Characterization. MARTECH 2023, Castellón, Spain.
  • J. Gonzalez, R. Marin, J. Echague, G. Lunghi, J. V. Martí, A. Solis, A. Pino, and P. J. Sanz. Preliminary Telerobotic Experiments of and Underwater Mobile Manipulator via Sonar.  OCEANS 2023, Limerick, Ireland.
  • Caterina Muntaner Gonzalez, Bo Miquel Nordfeldt-Fiol, Miguel Martin Abadal, Antoni Martorell Torres,
    Francisco Bonin-Font∗, Fernando Molina Arcas, Raúl Marín Prades, Gabriel Oliver, Pedro J. Sanz Valero. Towards Underwater Robust Image Transmission Using Acoustic Communications.  OCEANS 2023, Limerick, Ireland.