Buy an Axon, Axon II, or Axon Mote and build a great robot, while helping to support SoR.
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The biggest issues you will have that I want to point out are:waterproofing - don't underestimate it - a tiny leak will fry everything!wireless communication - this is crazy hard underwatersensors - its really hard to see underwater . . .for communication, consider acoustic modems . . .or another idea, have each of your drones operate on a timer, and when the time is up have them all surface to communicate, then submerge again with new mission plans.
Anyone know anything about it?http://www.loc8tor.com/introducing-loc8tor.asp