ARTICLE IN PRESS JID: JARAP [m5G; October 12, 2018;16:5 ] Annual Reviews in Control xxx (xxxx) xxx Contents lists available at ScienceDirect Annual Reviews in Control journal homepage: www.elsevier.com/locate/arcontrol Review article Challenges and future trends in marine robotics ∗ Enrica Zereik a, , Marco Bibuli a, Nikola Miškovi c´ b, Pere Ridao c, António Pascoal d a CNR - Institute of Marine Engineering, Via De Marini 6, Genova, 16149, Italy b University of Zagreb, Faculty of Electrical Engineering and Computing, Unska 3, Zagreb, 10 0 0 0, Croatia c University of Girona, Girona, 17071, Spain d Laboratory of Robotics and Engineering Systems / Institute for Systems and Robotics, Instituto Superior Tecnico, Univ. Lisbon, Av. Rovisco Pais, 1 -Torre Norte, Lisboa, 1049-001, Portugal a r t i c l e i n f o a b s t r a c t Article history: Spawned by fast paced progress in marine science and technology, the past two decades have witnessed Received 5 July 2018 growing interest in ocean exploration and exploitation for scientific and commercial purposes, the de- Revised 30 September 2018 velopment of technological products for the maritime and offshore industries, and a host of other ac- Accepted 2 October 2018 tivities in which the marine environment takes center stage. In this context, marine robotics has steadily Available online xxx emerged as a key enabling technology for the execution of increasingly complex and challenging missions Keywords: at sea. Intensive research and development in this field have led to major advances and shown unequiv- Marine robotics ocally the effectiveness and reliability of marine robotics solutions in several domains. This progress goes Field applications hand in hand with the availability of increasingly sophisticated acoustic networks for multiple, coopera- Future trends tive missions involving surface and underwater robots. At the root of this trend is the fruitful dialogue between robotic systems developers and end-users with the capacity to convert general mission objec- tives into functional and technical specifications that serve as application-driven requirements for engi- neering development. The result is the tremendous progress observed in the consolidated methodologies and procedures adopted and the consequent impact on science, industry, and the society at large. In spite of the progress in the area, however many challenges must still be faced and novel applications will con- tinue to set further requirements for future generations of marine robots and their enabling systems. The time is therefore appropriate to overview recent trends in the field of marine robotics and assess their impact on several important application domains. With these objectives in mind, in the present paper we highlight key technological achievements in the field, analyze some of the shortcomings encountered, and indicate specific issues that warrant further research and development effort. To this end, we review a number of highly representative projects in the field, with due account for the theoretical frameworks upon which technological developments build upon. Finally, the paper concludes with an outlook on the future of marine robotics, both from a theoretical and practical standpoint, and describes recently initi- ated projects that hold promise for the development of advanced tools and systems for ocean exploration and exploitation. ©2018 Published by Elsevier Ltd. Contents 1. Introduction . 2 2. Domain overview . 3 2.1. Scientific . 3 2.2. Industrial . 3 2.3. Transport . 3 2.4. Human interaction . 4 3. Relevant projects . 4 3.1. Scientific . 4 ∗ Corresponding author. E-mail address: [email protected] (E. Zereik). https://doi.org/10.1016/j.arcontrol.2018.10.002 1367-5788/© 2018 Published by Elsevier Ltd. Please cite this article as: E. Zereik et al., Challenges and future trends in marine robotics, Annual Reviews in Control (2018), https://doi.org/10.1016/j.arcontrol.2018.10.002 ARTICLE IN PRESS JID: JARAP [m5G; October 12, 2018;16:5 ] 2 E. Zereik et al. / Annual Reviews in Control 0 0 0 (2018) 1–19 3.1.1. MORPH Project. 5 3.1.2. ROBUST Project . 5 3.1.3. Wimust project . 5 3.1.4. UNEXMIN Project . 6 3.1.5. BRIDGES Project . 6 3.1.6. NOPTILUS Project . 6 3.1.7. AUTODROP Project. 6 3.1.8. DIGITAL OCEAN Project. 7 3.1.9. HYDRONET Project . 7 3.1.10. SHOAL Project . 7 3.1.11. SWARMs Project. 7 3.2. Industrial - Autonomous intervention . 7 3.2.1. ALIVE Project . 8 3.2.2. SAUVIM Project. 8 3.2.3. TRIDENT Project . 8 3.2.4. PANDORA Project . 9 3.2.5. OCEAN ONE. 9 3.3. Transport . 9 3.3.1. CART Project . 9 3.3.2. MINOAS Project . 10 3.3.3. RITMARE Italian Flagship Project. 10 3.4. Human-Robot interaction . 10 3.4.1. CO3AUVs project . 11 3.4.2. ICARUS and DARIUS projects . 12 3.4.3. CADDY Project. 12 3.4.4. ARROWS Project . 12 3.4.5. DexROV project. ..