  In this paper we present LoCO AUV, a Low-Cost, Open Autonomous Underwater
Vehicle. LoCO is a general-purpose, single-person-deployable, vision-guided
AUV, rated to a depth of 100 meters. We discuss the open and expandable design
of this underwater robot, as well as the design of a simulator in Gazebo.
Additionally, we explore the platform's preliminary local motion control and
state estimation abilities, which enable it to perform maneuvers autonomously.
In order to demonstrate its usefulness for a variety of tasks, we implement a
variety of our previously presented human-robot interaction capabilities on
LoCO, including gestural control, diver following, and robot communication via
motion. Finally, we discuss the practical concerns of deployment and our
experiences in using this robot in pools, lakes, and the ocean. All design
details, instructions on assembly, and code will be released under a
permissive, open-source license.
