Table 2.

Status, expected challenges during completion, and expected time of first full-scale testing.

Element	Status	Challenges	Expected Completion	Comment
Crawler system	Tested at shallow water	Garage–crawler symbiosis and cable operation	First test mid-2020	Similar crawlers have been produced and given valuable experience for the completion of the ARIM crawler.
The bottom-based system	Platform tested at LoVe and at a commercial oil production site	Integrating garage with charging and cable winch for the crawler. Combine these functions and X-Frame as a sensor carrier	First field tests with complete system mid-2020	The optical fibre cable on the winch is used for training the navigation software prior to full autonomy operations
Self-sustained fuel cell	Design and laboratory version completed. Construction of frame and recovery system finished	Integration of fuel cell within the ARIM system. Establish operational routines	First field tests with complete system mid-2020	This module is presently an add-on to the ARIM platform. We expect a full integration in the future
Navigation and piloting	Mainly laboratory test. First field test in shallow water in 2019	Deep water operation in unknown location	Tests under realistic operational conditions mid-2020	This software will be under continuous development based on experience and on development in a fast-developing software field
Automatic data acquisition and processing	Large amount of data from LoVe used to train the system. All routines are operated according to specifications	Evaluation of system capacity in handle changing visibility and routines capability to work at different habitat conditions	Tests under realistic operational conditions mid-2020	Changing habitat conditions like light and turbidity affect visibility. This is a general challenge in marine imaging that requires attention. The complete processing pipeline as well as the associated problems and future challenges is detailed in [40]