he CoaX contains an integrated Inertial Measurement Unit (IMU), a pressure sensor, a down-looking sonar, three side looking sonar and a color camera. To communicate with the world, the robot has a Bluetooth (or ZigBee) module and a optional WiFi module. It can also be controlled via a 2.4GHz remote control. The CoaX contains two DSPs (dsPIC33). One is used for sensor data-fusion and the second one for control and communication.