{"ID":2893756,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2507.11889","arxiv_id":"2507.11889","title":"NemeSys: Toward Online Underwater Exploration with Remote Operator-in-the-loop Adaptive Autonomy","abstract":"Adaptive mission control and dynamic parameter reconfiguration are essential for autonomous underwater vehicles (AUVs) operating in GPS-denied, communication-limited marine environments. However, AUV platforms generally execute static, pre-programmed missions or rely on tethered connections and high-latency acoustic channels for mid-mission updates, significantly limiting their adaptability and responsiveness. In this paper, we introduce NemeSys, a novel AUV system designed to support real-time mission reconfiguration through compact magnetoelectric (ME) signaling. We present the full system design, control architecture, and a mission encoding framework that enables interactive exploration and task adaptation via low-bandwidth communication. The proposed system is validated through analytical modeling, controlled simulation tests, and real-world trials. The mid-mission retasking scenarios, evaluated using the NemeSys digital twin, demonstrate behavior switching latency below 50 ms with only a 13.2 MB peak computational overhead, making the framework suitable for deployment on edge computing hardware. Laboratory tank tests and open-water field trials further confirm stable control and reliable mission execution in dynamic underwater environments. These results establish the feasibility of online mission reconfiguration and highlight NemeSys as a promising step toward responsive, goal-driven adaptive underwater autonomy.","short_abstract":"Adaptive mission control and dynamic parameter reconfiguration are essential for autonomous underwater vehicles (AUVs) operating in GPS-denied, communication-limited marine environments. However, AUV platforms generally execute static, pre-programmed missions or rely on tethered connections and high-latency acoustic ch...","url_abs":"https://arxiv.org/abs/2507.11889","url_pdf":"https://arxiv.org/pdf/2507.11889v2","authors":"[\"Adnan Abdullah\",\"Alankrit Gupta\",\"Vaishnav Ramesh\",\"Shivali Patel\",\"Md Jahidul Islam\"]","published":"2025-07-16T04:02:59Z","proceeding":"cs.RO","tasks":"[\"cs.RO\"]","methods":"[\"LoRA\"]","has_code":false}