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AUV System Spec Sheet

Multi AUV Test Bed configuration

Platform: Iver2
Manufacturer: OceanServer Technology
Scientific User: University of Michigan Perceptual Robotics Laboratory



PeRL has modified two commercial Ocean-Server Iver2 AUV systems for simultaneous localization and mapping (SLAM) research at the University of Michigan (UMich). PeRL upgraded the vehicles with additional navigation and perceptual sensors including 12-bit stereo down-looking Prosilica cameras, a Teledyne 600 kHz RDI ExplorerDVL for 3-axis bottom-lock velocity measurements, a KVH single-axis fiber-optic gyroscope for yaw rate, and a WHOI Micromodem. To accommodate the additional sensor payload, a new Delrin nosecone was designed and fabricated in-house. Additional 32-bit embedded CPU hardware was added for data-logging, real-time control, and in-situ real-time SLAM algorithm testing and validation. The vehicles, as shipped, are rated to a maximum depth of 100m and a maximum speed of approximately 4 knots. The standard vehicle weighs 29.48kg and can be transported by two people.

Physical Specs

  • Platform: Iver2 Download PDF
  • Body Type: Torpedo
  • Size (LxWxH): 1.26m x 0.15m x 0.15m
  • Body Size (LxWxH): 1.26m x 0.15m x 0.15m
  • Hull Material: Aluminum
  • Weight: 29.48kg
  • Maximum Depth: 100.00 m
  • Dynamic Buoyancy: No
  • Self-Righting: Yes
  • Obstacle Avoidance: No
  • Endurance (nominal load): 4 hours
  • Manufacturer Website: Link

Primary Missions

  • Vehicle Research

Propulsion System

  • Method: Drifters
  • DOF: 3
  • Hovering:
  • Nominal Speed: 1.29
  • Maximum Forward Speed: 2.06

Power System

  • Total Capacity: 0 Wh

Launch and Recovery

  • Hand Held


  • Teledyne RD Instruments Explorer DVL


  • Woods Hole Oceanographic Institution WHOI Micro-Modem