Bumblebee Autonomous Surface Vessel

ASV With Full AUV Payload


ASV only – 340kg

ASV with LARS and AUV payload – 425kg

Top Speed

5 knots

Degrees of Freedom

Total 3:
Surge (Forward)
Sway (Side Move)

Power System

2 x High-performance lithium battery 2,685 Wh

Perception Sensors

3 x Blackfly S Camera for 180° panoramic vision
SICK LD-MRS LIDAR for immediate collision avoidance
Velodyne VLP-16 LIDAR for crowded environment mapping
Quantum Radar for long range collision avoidance and sea navigation


Launch and Recovery System for AUV

Wireless Communications

Control link – 2.4GHz Xbee based on Digimesh
Remote Kill link – 2.4GHz Xbee based on Digimesh
Data link – 5.8GHz Ubiquity Rocket 5 AC Prism
RC Link – FrSky Taranis X9D+, FrSky X8R-II Reciever


RGY Light Tower


4m x 2.45m x 3.3m


Full Throttle – 17km range, 1.6 hours runtime
Slow Throttle – 30km range, 8 hours runtime

Single Board Computer Model

32GB DDR4 RAM, Intel i7-6700TE
NVidia GTX1050Ti

Propulsion System

4 x Minn Kota RT80 Saltwater Transom-Mount Motor


Hydrophone array based on Teledyne reson TC4013 hydrophones
NI9223 Analog input module
NI sbRIO-9606 400MHz controller with Xilinx Spartan-6 LX45 FPGA
High resolution Multiple Signal Classification algorithm for DOA calculation

Navigation System

Eclipse2-N: Miniature INS/GPS
Sparton AHRS8 Inertial Measurement Unit
Odroid XU4 Single Board Computer

Software Architecture

Robot Operating System (ROS)
Ubuntu Linux 16.04 LTS x86_64


Bumblebee Autonomous Underwater Vehicle 3.5
Launch and Recovery System complete with telescopic arm and winch

ASV Minimal Configuration

Find out more about our system by click the links below!

Or you can consider reading our journal paper here!