Artemis AUV payload development

Phoenix engineers and operators have been working on developing new payload capabilities for our Autonomous Underwater Vehicle (AUV) Artemis. Initially, we integrated and demonstrated a payload designed to look for hydro-carbon leaks from subsea pipelines. More recently, we developed a magnetometer payload for locating and mapping seafloor minerals. Both of these efforts involve the use of an AUV payload computer and a set of open source C++ modules for providing autonomy on robotic platforms, in particular autonomous marine vehicles, called Mission Oriented Operating Suite - Interval Programming (MOOS-IvP). This paper will discuss these AUV payload development efforts and describe how Artemis is now ready to support additional payload development initiatives.