  In this paper we show the application of the new robotic multi-platform
system HSURF to a specific use case of teleoperation, aimed at monitoring and
inspection. The HSURF system, consists of 3 different kinds of platforms:
floater, sinker and robotic fishes. The collaborative control of the 3
platforms allows a remotely based operator to control the fish in order to
visit and inspect several targets underwater following a complex trajectory. A
shared autonomy solution shows to be the most suitable, in order to minimize
the effect of limited bandwidth and relevant delay intrinsic to acoustic
communications. The control architecture is described and preliminary results
of the acoustically teleoperated visits of multiple targets in a testing pool
are provided.
