This paper presents an overview of coordinated project MISSION-SICUVA,
and the results achieved at its recent completion. A prototype of UUV has been built
with an orientation to oceanographic research and test of new control algorithms.
It consist of an underwater vehicle towing a surface buoy, with applications such
as monitoring water quality, high resolution bathymetry of the seabed and its map
projection. New biological inspired navigation algorithms have been implemented
using a comprehensive component based development framework.