Development and field testing of a cavitation-based robotic platform for sustainable in-water hull cleaningPuc, Uroš (Avtor) Abina, Andreja (Avtor) Salvi, Edvin (Avtor) Malačič, Vlado (Avtor) Francé, Janja (Avtor) Zanelli, Riccardo (Avtor) Zidanšek, Aleksander (Avtor) biofoulingship hullsin-water cleaningundewater robotsensor integrationfield testingBiofouling on ship hulls significantly increases hydrodynamic drag, fuel consumption, and greenhouse gas emissions, while also facilitating the spread of invasive species in regional and global waters, thereby threatening marine biodiversity. To address these environmental and economic issues, we developed an innovative robotic platform for in-water hull cleaning. The platform utilizes a cavitation-based cleaning module that removes biofouling while minimizing hull surface damage and preventing the spread of detached particles into the marine environment. This paper describes the design, operation, and testing of a developed robotic cleaning system prototype. Emphasis is placed on integrating components and sensors for continuous monitoring of key seawater parameters (temperature, salinity, turbidity, dissolved oxygen, chlorophyll-a, etc.) before, during, and after underwater cleaning. Results from real-sea trials show the platform’s effectiveness in removing biofouling and its minimal environmental impact, confirming its potential as a sustainable solution for in-water hull cleaning.MDPI20262026-01-27 09:23:10Neznano25678UDK: 007.52ISSN pri članku: 2077-1312DOI: 10.3390/jmse14020227COBISS_ID: 266126595Švicasl© 2026 by the authors.