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Built by LABUST


The autonomous surface platform, that carries the international flag marking underwater activity, is overactuated with 4 thrusters forming the ”X” configuration. This configuration enables motion in the horizontal plane under any orientation. The platform has been developed at the University of Zagreb Faculty of Electrical Engineering and Computing, Laboratory for Underwater Systems and Technologies. The platform was primarily developed for following divers and since then it’s application was extended to execution of multiple autonomous tasks.


Vehicle applications:

• control algorithm testing
• diver tracking
• diver communication and navigation
• moving USBL      
• sensor calibration and navigation algorithm testing 

Vehicle specifications:

• Size (W x L x H) 707mm x 707mm x 350mm
• Weight in air 25kg
• Construction Aluminium and high impact ABS
• Speed Up to 3 knots
• Horizontal Thrusters 4x80w 

Sensors & Equipment:

• In-house low-cost IMU + GPS navigation module
• Advanced Navigation Spatial IMU
• Ublox GPS
• MicroNav USBL Tritech - navigation and communication
• LinkQuest DVL
• BlueView DF900/2250
• Advantech SBC 3362N

Software architecture:

• Robot Operating System
• Cascade low-level control system
• EKF navigation and target tracking
• Path and Trajectory following
• Neptus mission planning support