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This paper describes the experience of preparing and testing the SPARUS IIAUV in different applications. The AUV was designed as a lightweight vehiclecombining the classical torpedo-shape features with the hovering capability.The robot has a payload area to allow the integration of different equipmentdepending on the application. The software architecture is based on ROS, anopen framework that allows an easy integration of many devices and systems. Itsflexibility, easy operation and openness makes the SPARUS II AUV a multipurposeplatform that can adapt to industrial, scientific and academic applications.Five units were developed in 2014, and different teams used and adapted theplatform for different applications. The paper describes some of theexperiences in preparing and testing this open platform to differentapplications.

Testing SPARUS II AUV, an open platform for industrial, scientific and academic applications