• autonomous underwater vehicle
• auv
• eFolaga+
• energy recovery
• mission contol
• software
• wave

The aim of this degree thesis is the study and the development of the main software architecture to interface an autonomous underwater vehicle with energy recovery capability with external payloads like CTD, Side scan Sonar and to manage the different survey. It is the continuation of a previous work done in association with Graal Tech S.r.l and the Italian navy on the WAVE project (Wave powered Au- tonomous Vehicle for marine Exploration). Starting from the project of a module named WAVE which aim is the recovering of energy from waves, all the necessary payloads have been studied and all the necessary software has been developed. Due to the fact that all the payloads except for the CTD where previously tested, it has been necessary to coordinate a survey act to learn the various operations mode of the Multiprobe. This operation has been done in collaboration with the Italian navy at the SeaLab in La Spezia. A lot of effort has been spent in the cre- ation of the code act to interface the AUV with the relative payloads and with the mission manager. The results of the experimentations demonstrate the robustness and the user-friendly attitude of the developed software.