Twenty years ago, autonomous underwater vehicles (AUVs) were an infant technology, and there was an absence of evolution to guide designers in deciding the fundamental shape and size of their craft. Since this period, researchers have tried a wide variety of AUV shapes and sizes, including torpedo shapes, like the National Oceanography Centre's (NOC) Autosub and Hydroid's (Pocasset, Massachusetts) REMUS; laminar flow bodies, like the early Kongsberg Maritime (Kongsberg, Norway) HUGIN vehicles; streamlined rectangular styles, like Atlas Elektronik GmbH's (Bremen, Germany) Sea Otter; and multihull vehicles, like the Woods Hole Oceanographic Institution's (WHOI) Autonomous Benthic Explorer (ABE). Each came with a vision of fulfilling a certain set of requirements and an oceanographic niche.
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机译：二十年前，无人水下航行器（AUV）是一项婴儿技术，并且尚无进化的方法来指导设计师确定其基本形状和尺寸。从这一时期开始，研究人员尝试了各种各样的AUV形状和尺寸，包括鱼雷形状，例如国家海洋学中心（NOC）的Autosub和Hydroidid（马萨诸塞州的波卡塞特）REMUS;层流体，例如早期的Kongsberg Maritime（挪威的Kongsberg）HUGIN车辆;简化的矩形样式，例如Atlas Elektronik GmbH（德国不来梅）的Sea Otter;和多体船，例如伍兹霍尔海洋研究所（WHOI）的自治底栖探险家（ABE）。每个人都有满足特定要求的愿景和海洋生态位。
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