Design and Implementation of a Peer-to-Peer Communication, Modular and Decentral YellowCube UUV

--The underwater Unmanned V ehicles(UUVs) are pivot tools for offshore engineering and oceanographic research. Most existing UUVs do not facilitate easy integration of new or upgraded sensors. A solution to this problem is to have a modular UUV system with changeable payload sections capable of carrying different sensor to suite different missions. The design and implementation of a modular and decentral UUV named Y ellowCube is presented in the paper . Instead a centralised software architecture which is adopted by the other modular underwater vehicles designs, a Peer-T o-Peer(P2P) communication mechanism is implemented among the UUV's modules. The experiments in the laboratory and sea trials have been executed to verify the performances of the UUV . Over the past few decades, the Unmanned Underwater V ehicles(UUVs) have become the essential tools in the offshore engineering and the ocean research. Their tasks ranges from the offshore engineering, oceanographic research, salvage and rescue to the military monitoring.