Extending the MRS UAV System for USVs

[fmukwege]

Hi there,

Following our discussions at the last summer school, I am planning to develop a system inspired by the MRS UAV System. I already discussed some of it with you guys but I would like to recap my approach and have your feedbacks.

What I should rewrite are :

• The controllers since USV can be both under- and overactuated. I especially focus on the latter
• The trackers : mostly replace the model of the UAV by the USV
• The HW API to handle the low-level control
• Model of the various actuators. I plan on adding pods, tunnel thrusters and classic rudder and propellers system.
• The constraints manager
• Building an equivalent of the "UAV manager" for the USV for operational tasks.

I believe the sensors library, perception tools (for above-water operations), and planning tools can be leveraged from the existing system.

Could you please advise on any potential oversights, recommend a suitable order for these tasks, or share any other relevant considerations?

Thank you for your support !

Best,