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Future Improvements

Planned research and development for subsequent competition seasons and long-term platform evolution.

Software

On-Vehicle AI Inference

The current architecture offloads YOLOv8 inference to the topside laptop. Future iterations will evaluate running inference directly on the Jetson Orin Nano's 1024-core Ampere GPU using TensorRT-optimized models, reducing detection latency by eliminating the tether round-trip for video frames.

Prerequisite: Resolve the NVENC encoder gap — either by sourcing cameras that output H.264 natively or by upgrading to a Jetson Orin NX with hardware encode support.

ROS 2 Migration

The current stack uses ROS 1 for node coordination. Migrating to ROS 2 (Humble/Iron) provides:

  • DDS-based transport — eliminates the single-point-of-failure ROS Master node
  • Real-time executor — deterministic callback scheduling for time-critical sensor processing
  • Lifecycle nodes — structured startup/shutdown for cleaner service management

Autonomous Transect Capabilities

[INSERT DETAILS HERE: Planned waypoint-following or line-following autonomous modes, sensor requirements, integration with ArduSub mission planning]

Firmware

Dynamic Motor Mixing

The current mixing matrix uses static factors tuned empirically. Future work will investigate runtime-adjustable mixing — loading factor matrices from the SD card or via MAVLink parameters rather than requiring a firmware recompile.

Thruster Health Monitoring

[INSERT DETAILS HERE: Planned current-sensing per ESC for real-time thruster health diagnostics, automatic degraded-mode reconfiguration if a motor fails]

Mechanical

Modular Frame System

[INSERT DETAILS HERE: Plans for a modular rail or slot-based frame allowing rapid reconfiguration of thruster positions and payload mounting between missions]

Improved Depth Rating

[INSERT DETAILS HERE: Target depth rating for future competitions, enclosure redesign plans, pressure testing targets]

Electrical

Power-over-Ethernet (PoE) Tether

[INSERT DETAILS HERE: Feasibility study for consolidating power and data onto a single PoE cable, reducing tether diameter and drag]

Battery-Backed Topside UPS

[INSERT DETAILS HERE: Uninterruptible power supply for the topside laptop to prevent data loss during power interruptions at competition venues]

Competition Strategy

[INSERT DETAILS HERE: Lessons learned from current season, planned changes to pilot training, task prioritization strategy, time management improvements]