Towards Centimeter-Scale Underwater Mobile Robots: An Architecture for Capable μAUVs

Underwater robots are indispensable for aquatic exploration, yet their size and complexity often limit broader application. This research presents a pioneering micro au- tonomous underwater vehicle (μAUV) design. This robot is distinguished by its utilization of mass-produced drone com- ponents, novel jet propulsion mechanisms, and multifunctional spherical shell. Its architecture is modular, appendage-free, and largely seal-free. Preliminary tests highlight its motion capabilities and set new benchmarks for centimeter-scale μAUV advancements.