The design of the robotic arms, the claw, the arm’s movement, and the claw’s position on the nodule are optimized to minimize local sediment disturbance. Even so, some local sediment disturbance can occur when the nodule is picked. The cameras identify the location of the nodule in front of the vehicle. The nodule’s location is tracked relative to the robot through precise tracking of the vehicle position. Even with the nodule out of sight from the camera, because the robot’s position is precisely tracked, the nodule’s location is understood, enabling the arm to pick it. With the nodule under the vehicle, the arm picks it, and any disturbed sediment is well behind the camera. Additionally, the vehicle will travel primarily into any current that exists. Between the vehicle motion and the surrounding currents, any sediment distributed under the vehicle will remain behind the vehicle.
