The RobSub Senior Design project is a joint project between a team of Electrical/Mechanical engineering students and a team of computer science students. The purpose of the project is to build a fully autonomous underwater vehicle (AUV) that will compete in an international competition in summer of 2020. The competition is comprised of a sequence of different tasks and obstacles that test the AUV's ability to detect objects, maneuver itself, and to make decisions. The computer science team will design and implement the software that pilots the AUV, providing navigation, stabilization, object-detection, and task-handling capabilities.