Abstract

The increasing demand for sustainable aquaculture practices requires innovative and cost-effective monitoring solutions. This paper presents the design, development, and testing of Kalypso, a low-cost autonomous underwater vehicle (AUV) tailored for the inspection of fish farm nets. The system integrates waterproofing mechanisms, a power relay, and an external balanced charging interface, addressing common challenges of underwater robotics in aquaculture environments. Equipped with dual cameras, ultrasonic sensors, and LED lighting, Kalypso provides reliable visual and environmental data for real-time net condition assessment. Field trials were conducted in operational fish cages in Kefalonia, Greece, where the AUV demonstrated stable performance at depths up to 16.5 m, with a runtime of 2.5 hours. Experimental results confirm its ability to support tasks such as object retrieval, dead fish removal, and structural net inspection under real marine conditions. By combining modular design, affordability, and practical usability, Kalypso offers an accessible robotic platform for fish farmers and marine operators, contributing to sustainable and data-driven aquaculture management.