A prototype autonomous robot for underwater crime scene investigation and emergency response

Underwater crime scene investigation and emergency response are tasks typically carried out by divers constituting part of a specialist team. Operating in such dynamic environments, often with poor visibility risk concealed hazards, can be time consuming dangerous. Autonomous uncrewed vessels underwater acoustic imaging sensors have been used for similar purposes other fields (e.g., hydrography, naval mine countermeasures [MCMS], etc.) but not adopted this specific application domain. The Police Robot Inspection Mapping Evidence (PRIME) is an autonomous surface vessel that being developed purpose. It novel existing robotic technology intended to within end-to-end police search process. aims enhance the effectiveness, efficiency, safety autonomously locating highlighting target objects or regions interest, as well benign regions, thereby reducing their spent underwater. Side-scan sonars sense environment using techniques leveraged from domain MCMs. system generates actionable intelligence form simplified coverage anomaly maps easy interpretation dive These communicated shore real-time georeferenced on satellite maps. This paper details PRIME prototype presents results initial field experimentation. has operated various urban, shallow-water environments. experimental shown here were collected Bristol Harbour (the UK) water depth approximately 5 m. In experiment, clothed mannequin resembling human body was deployed muddy floor. searches executed detected successfully against background, illustrating feasibility viability aid missing persons representative, unstructured, real-world environment.