Requirements

Capable of movement in U (forward/backward) axis at 1 m/s for at least 30 minutes.

Capable of moving in W (diving) axis at 0.2 m/s.

Capable of rotation about W axis (yaw).

Station-keeping (hover) capability: Maintain specific location relative to seabed with tolerance of 0.1m in X,Y, and Z (forward/lateral/vertical) axes for at least 30 minutes.

Include payload capability for sensors

• At least one electro-optical video camera

Able to communicate w/ control terminal through radio or a tether

Use electric propulsion system

• Self-contained power supply if not using a tether

Navigation:

• Way of establishing reference coordinates

• Capability to autonomously navigate through a set of 3-dimensional waypoints.