We are a team of 40 students, both undergraduate and graduate, from Pontificia Universidad Católica de Chile, competing for the second time in the RobotX Maritime Challenge.
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CALEUCHE II
The USV is a modified BlueRobotics BlueBoat equipped with a custom fiberglass payload extension system that adds 20 kg of load capacity. It features a modular aluminum T-slot sensor tower housing an Ouster OS0 LiDAR, an OAK-1 PoE camera, a GNSS receiver, and a Pelican 1200 power distribution enclosure. Autonomous navigation relies on the Nav2 framework and the STVL plugin for dynamic obstacle avoidance. For active competition tasks, the vessel integrates a custom 2-DOF automated water cannon driven by stepper motors for precision targeting.
Estimated Water Time: 40 hr
CHUCAO
The UAV is built on a Hexoon EDU-650 V2 quadrotor frame, powered by a Pixhawk 6C flight controller and a LattePanda Delta 3 companion computer. Flight stabilization is handled by PX4 firmware, while a custom ROS 2 navigation stack executes high-level waypoint routing. For perception, it uses an OAK-1-W camera running YOLO algorithms to detect platforms. Its primary end-effector is a custom 3D-printed PETG magnetic pickup mechanism featuring a dual-electromagnet array and passive TPU damping to autonomously retrieve and deploy ferromagnetic payloads.
Estimated Air Time: 60 hr
COCHAYUYO
The UUV utilizes a BlueROV2 Heavy platform operating in a tethered configuration, which restricts its operational radius to 6 meters from the USV. Low-level hydrodynamic control and motor mixing are delegated entirely to the onboard BlueOS firmware. Because the UUV lacks drift-free internal odometry, its spatial localization relies heavily on the USV. It establishes its relative pose through a heterogeneous approach, a mounted acoustic pinger tracked by the USV’s hydrophone array, combined with a monocular camera that tracks an AprilTag mounted directly on the surface vessel.
Estimated Underwater Time: 10 hr