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Once deployed in the real world, autonomous underwater vehicles (AUVs) areout of reach for human supervision yet need to take decisions to adapt tounstable and unpredictable environments. To facilitate research onself-adaptive AUVs, this paper presents SUAVE, an exemplar for two-layeredsystem-level adaptation of AUVs, which clearly separates the application andself-adaptation concerns. The exemplar focuses on a mission for underwaterpipeline inspection by a single AUV, implemented as a ROS2-based system. Thismission must be completed while simultaneously accounting for uncertaintiessuch as thruster failures and unfavorable environmental conditions. The paperdiscusses how SUAVE can be used with different self-adaptation frameworks,illustrated by an experiment using the Metacontrol framework to compare AUVbehavior with and without self-adaptation. The experiment shows that the use ofMetacontrol to adapt the AUV during its mission improves its performance whenmeasured by the overall time taken to complete the mission or the length of theinspected pipeline.

SUAVE: An Exemplar for Self-Adaptive Underwater Vehicles