These are two videos of the autonomous black box recovery experiments carried out some weeks ago at Roses (Girona), using the Girona 500 underwater vehicle, the Lightweight ARM 5E manipulator and stereo vision. The first shows a summary of all the parts and the results obtained. The other was recorded by a local TV.
First the vehicle conducted an optical survey of the seabed. Next an Ortho-photomosaic was built and used for target selection (the black box mockup). Then the vehicle was launched again and searched for the target. When found, it switched to visual station keeping and recovered the target. All the mission was performed autonomously, only an ethernet umbilical was used for testing and monitoring.