Objective 1 of BluE consists in integrating SILVER2, a bioinspired Underwater Legged Robot (ULR), with the OBSEA cabled observatory to perform a visual census of the ittic community surrounding the observatory. SILVER2 will be tethered to the OBSEA to ensure real-time communication and power supply. The ULR will autonomously follow cyclic, linear transects, incorporating bioinspired punting locomotion and traditional gaits. SILVER2 will capture high-resolution images which will be integrated with the oceanographic and atmospheric data collected by the observatory to expand the monitoring radius of the fixed platform and evaluate the environmental impact of ULRs, contributing to the project’s innovative exploration of marine ecosystems. This objective is pursued in collaboration with SARTI research group from the Polytechnic University of Catalunya (UPC), which is running the OBSEA facility.

Objective 2 of BluE entails interfacing SILVER2 with the AUV Girona 500, fostering a collaborative navigation and obstacle avoidance scheme. The ULR and the AUV will resort to acoustic modems to ensure wireless communication and position estimation between the two robotic platforms. The AUV will inspect the area around SILVER2, creating a 3D map of the mission site and localizing the ULR. Based on this data, obstacle-free trajectories for SILVER2 will be generated to guide the ULR to destination. This collaborative navigation scheme combines the ability of AUVs to perform autonomous area inspection from an elevated position, with those of ULRs to efficiently perform intervention tasks directly on the seabed, with enhanced stability and a low environmental disturbance. This objective is pursued in collaboration with VICOROB research group from the University of Girona (UdG), developers of the GIRONA 500 AUV.