Anchovy is BeaverAUV’s fifth-generation autonomous underwater vehicle, developed for the 2025 RoboSub competition. Building on the successes of previous AUVs, Anchovy features a robust and modular design that makes component access, repair, and upgrades easier than ever. Its large acrylic pressure hull, sealed with anodized aluminum end caps and protected by a waterjet-cut aluminum frame, ensures durability and watertight integrity. Anchovy is equipped with eight thrusters and a dynamic trim system, providing precise control and stability in all axes. Powered by an NVIDIA Jetson computer and a reliable power distribution system, it supports up to five hours of autonomous operation. Anchovy’s sensor suite includes a high-resolution underwater camera, a Blue Robotics depth sensor, and a VectorNav IMU, enabling advanced navigation and perception. Scroll down to learn more about Anchovy’s mechanical, electrical, and software systems.

Software Electronics Mechanics

Mechanics

Anchovy AUV features a large acrylic pressure hull that houses its core electronics, sealed by two anodized aluminum end caps and protected by a precision waterjet-cut aluminum frame. The vehicle is powered by eight thrusters for full six-degree-of-freedom control and includes a dynamic trim system that allows for real-time redistribution of weight. Anchovy’s modular design enables easy, piece-by-piece updates without compromising the system’s overall usability. Much of the original structural framework has proven durable over multiple iterations, and where replacements were necessary, we engineered custom solutions to maintain integrity and performance.

Pictured: AUV frame

Electronics

Anchovy AUV’s electrical system is built for reliability and ease of integration, primarily utilizing off-the-shelf components. At its core is an NVIDIA Jetson onboard computer, responsible for processing sensor data and coordinating autonomous behaviors. Anchovy is equipped with a suite of sensors, including a low-light underwater camera, a Blue Robotics depth sensor, and a VectorNav inertial measurement unit (IMU) for orientation and navigation. The power distribution system is designed for safety, scalability, and efficiency, providing up to five hours of continuous operation during testing and missions.

Pictured: computer module (left) and power module (right)

Software

Anchovy AUV’s software enables fully autonomous operation, leveraging the Robot Operating System (ROS) for modularity and scalability. A custom-built finite state machine governs mission execution, allowing the robot to switch intelligently between tasks. Motion control is managed by a suite of finely tuned PID controllers, which interpret sensor inputs—such as depth, orientation, and visual feedback—to determine precise thruster outputs. System-level decision-making depends on real-time data from onboard sensors and vision systems. A diagram of Anchovy’s software architecture and task flow can be seen to the right.

Pictured: AUV decision making flow chart