Bumblebee Autonomous Surface Vessel



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 (TBC, Q3′ 18)

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


Wind Speed Sensor
RGY Light Tower


4m x 2.45m x 3.3m


Full Throttle – 17km range, 1.6 hours runtime
Slow Throttle – 30km range, 5 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

Novatel OEM 628 GPS receiver with Antcom G5 L1/L2 GPS antenna
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

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

Or you can consider reading our journal paper here!