Systems and methods for autonomously planting seagrass utilizing water as a transport medium

Abstract

One variation of a method for planting seagrass includes deploying a harvesting AUV from a deployment station within a body of water to a harvesting site containing a meadow of seagrass, and harvesting the quantity of seagrass seeds from the harvesting site. The harvesting AUV deposits the quantity of seagrass seeds and accompanying biomass into a biodegradation tank of the deployment station. At the deployment station, the quantity of seagrass seeds is isolated from the accompanying biomass in the biodegradation tank, and the quantity of seagrass seeds is loaded into a planting AUV. The planting AUV is then deployed from the deployment station to a restoration site within the body of water. The planting AUV meters the quantity of seagrass seeds into a seed depositing mechanism and deposits the quantity of seagrass seeds into a sediment bed of the restoration site utilizing water as a transport medium.

Description

SYSTEMS AND METHODS FOR AUTONOMOUSLY PLANTING SEAGRASS UTILIZING WATER AS A TRANSPORT MEDIUMCROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This Application claims the benefit of U.S. Provisional Application No. 63 / 661,222, filed on 18-JUN-2024, which is incorporated in its entirety by this reference.

[0002] The U.S. Provisional Application No. 63 / 717,733 filed on 07-NOV-2024 is incorporated in its entirety by this reference.TECHNICAL FIELD

[0003] This invention relates generally to the field of aquatic ecosystem management and aquaculture and, more specifically, to new and useful systems and methods for autonomously planting seagrass utilizing water as a transport medium in the field of aquatic ecosystem management and aquaculture.BRIEF DESCRIPTION OF THE FIGURES

[0004] FIGURE 1 is a flowchart representation of one variation of a method for harvesting and planting a quantity of seagrass seeds by specialized AUVs;

[0005] FIGURE 2 is a flowchart representation of one variation of the method for harvesting and planting the quantity of seagrass seeds by a modular AUV;

[0006] FIGURE 3 is a flowchart representation of one variation of the method for harvesting and planting the quantity of seagrass seeds;

[0007] FIGURE 4 is a schematic representation of one variation of a harvesting AUV;

[0008] FIGURE 5 is a schematic representation of one variation of a harvesting AUV;

[0009] FIGURE 6 is a schematic representation of one variation of a planting AUV; and

[0010] FIGURE 7 is a schematic representation of one variation of a planting AUV.DESCRIPTION OF THE EMBODIMENTS

[0011] The following description of embodiments of the invention is not intended to limit the invention to these embodiments but rather to enable a person skilled in the art to make and use this invention. Variations, configurations, implementations, example implementations, and examples described herein are optional and are not exclusive to the variations, configurations,implementations, example implementations, and examples they describe. The invention described herein can include any and all permutations of these variations, configurations, implementations, example implementations, and examples.

[0012] Generally, the term “can,” as utilized herein, indicates an action or attribute of the system, which may or may not be executed by or be applicable to the system, depending on the implementation or embodiment of the system.

[0013] Generally, the term “include,” as utilized herein, can mean “comprise,” “consist of,” or “consist essentially of’ and is not restricted to any one of the above interpretations throughout.

[0014] Generally, the term “set,” as utilized herein, can include a single instance or multiple instances of an associated object. Descriptors such as “first,” “second,” “third,” etc., as utilized herein, do not imply a sequence or order unless otherwise specified but do imply separate instances of the associated object.

[0015] Generally, the term “seagrass,” as utilized herein, refers to any species of seagrass including, but not limited to, species in the Posidonia genus (e.g., Posidonia australis), the Syringodium genus (e.g., Syringodium filiforme), and the Zostera genus (e.g., Zostera marina). However, the methods and systems described herein can be utilized to plant other marine species capable of growing in loose sediment.

[0016] Generally, the term “body of water,” as utilized herein, refers to any body of water capable of supporting seagrass-based aquatic ecosystems, such as oceans, seas, or lakes.

[0017] Generally, the term “metering subsystem,” as utilized herein, refers to the metering subsystem of the U.S. Provisional Application No. 63 / 717,733 filed on 07-NOV-2024 or a variant thereof.

[0018] Generally, the term “storage and agitation tank,” as utilized herein, refers to the storage and agitation subassembly of the U.S. Provisional Application No. 63 / 717,733 filed on 07-NOV-2024 and may include a separate storage tank and agitation tank. However, the term may refer to any variation of the storage and agitation tank described herein, not limited to the variation disclosed by Application No. 63 / 717,733.

[0019] Generally, the term “injection mechanism,” as utilized herein, refers to the injection subassembly of the U.S. Provisional Application No. 63 / 717,733 filed on 07-NOV-2024. However, the term may refer to any variation of the injection mechanism described herein not limited to the description of the mechanism disclosed by Application No. 63 / 717,733.

[0020] Generally, the term “AUV,” as utilized herein, stands for autonomous underwater vehicle. Any step of the method described as being completed by a harvesting AUV can also becompleted by a modular AUV with a harvesting module, and any step of the method described as being completed by a planting AUV can also be completed by a modular AUV with a planting module.1. Method for Harvesting and Planting the Quantity of Seagrass Seeds

[0021] As shown in FIGURE 1, a Method SI 00 for planting seagrass includes deploying a harvesting AUV from a deployment station within a body of water to a harvesting site containing a meadow of seagrass in Step SI 02, and, via the harvesting AUV, harvesting the quantity of seagrass seeds from the harvesting site in Step S104. The harvesting AUV 114 deposits the quantity of seagrass seeds and accompanying biomass at a biodegradation tank of the deployment station in Step SI 06. The deployment station: isolates the quantity of seagrass seeds from the accompanying biomass in the biodegradation tank in Step SI 08; and loads the quantity of seagrass seeds into a planting AUV in Step SI 10. Then, the deployment station deploys the planting AUV to a restoration site within the body of water in Step SI 12. The planting AUV meters the quantity of seagrass seeds into a seed depositing mechanism in Step SI 14; and, via the seed depositing mechanism, deposits the quantity of seagrass seeds into a sediment bed of the restoration site utilizing water as a transport medium in Step SI 16.2. Method for Harvesting and Planting the Quantity of Seagrass Seeds without Metering

[0022] One variation of the Method SI 00 for planting seagrass involves the deployment station deploying the harvesting AUV to the harvesting site containing a meadow of seagrass within a body of water in Step SI 02. The harvesting AUV harvests the quantity of seagrass seeds from the harvesting site in Step SI 04. The harvesting AUV deposits the quantity of seagrass seeds, along with accompanying biomass, at the biodegradation tank of the deployment station positioned on the surface of the body of water in Step SI 06. At the deployment station, the quantity of seagrass seeds is isolated from the accompanying biomass within the biodegradation tank in Step S108. The quantity of seagrass seeds is loaded into a planting AUV in Step SI 10. The deployment station deploys the planting AUV to a restoration site within the body of water in Step SI 12, and the quantity of seagrass seeds is deposited into the sediment bed of the restoration site by the planting AUV, utilizing water as the transport medium for this process in Step SI 16.3. Method for Harvesting and Planting the Quantity of Seagrass Seeds via Harvesting AUVs and Planting AUVs

[0023] One variation of the Method SI 00 for planting seagrass includes harvesting the quantity of seagrass seeds, via the harvesting AUV, at the harvesting site containing the meadow of seagrass within the body of water in Step SI 04. The harvesting AUV deposits the quantity of seagrass seeds and accompanying biomass at the biodegradation tank of the deployment station on the surface of the body of water in Step SI 06. At the deployment station, the biodegradation tank isolates the quantity of seagrass seeds from the accompanying biomass in Step S108. The deployment station loads the quantity of seagrass seeds into the planting AUV configured to plant the quantity of seagrass seeds in Step SI 10, and the planting AUV deposits the quantity of seagrass seeds into the sediment bed of the restoration site within the body of water utilizing water as a transport medium in Step SI 16.4. Method for Depositing the Quantity of Seagrass Seeds

[0024] In one variation, the Method SI 00 includes loading the quantity of seagrass seeds into a storage and agitation tank of an AUV in Step SI 10 and metering the quantity of seagrass seeds through an outlet of the storage and agitation tank and into a seed depositing mechanism in Step SI 14. The seed depositing mechanism deposits the quantity of seagrass seeds into the sediment bed within the body of water in Step SI 16.5. Applications

[0025] Generally, the Method SI 00 is executed by an autonomous system (hereinafter “the system”) deployed within a body of water to harvest the quantity of seagrass seeds from a harvesting site and plant the quantity of seagrass seeds at a restoration site via a seed depositing module that uses water (sourced from the body of water) as the transport medium for the quantity of seagrass seeds. More specifically, the Method SI 00 can successfully restore seagrass-based aquatic ecosystems autonomously and at scale by harvesting, transporting, and depositing the quantity of seagrass seeds without the use of transport media (e.g., agar / alginate gel, hydrogel, sand, sediment, clay, or various biomaterials or biodegradable plastics) sourced or processed onshore or away from the restoration site, thereby vastly reducing the costs associated with restoring seagrass-based aquatic ecosystems. Thus, by utilizing water sourced directly from the body of water that includes the restoration site, the system can operate autonomously andoffshore within the body of water without a continuous resupply of transport media, thereby enabling the restoration of seagrass-based aquatic ecosystems at large scales (i.e., over thousands of square kilometers).

[0026] In one application, the system can restore seagrass-based aquatic ecosystems to provide nature-based carbon sequestration by accelerating the proliferation of seagrass meadows, which may act as efficient carbon sinks compared to land-based alternatives. By some estimates, seagrass can sequester up to 40 times as much carbon as an equivalent area of land-based forest (e.g., up to 140 metric tons of carbon per hectare of seagrass meadow). Thus, by improving the scalability of seagrass ecosystem restoration, the system increases the feasibility of seagrass as a legitimate method for carbon sequestration.

[0027] In another application, the system can restore seagrass-based aquatic ecosystems as a nature-based solution to coastal erosion, thereby improving the resilience of coastal structures to storm surges. Additionally, the system can restore seagrass-based aquatic ecosystems to improve water quality by preventing the dispersion of sediment into the surrounding water and filtering pollutants. Furthermore, the system offers additional ecosystem benefits through increased biodiversity and fish populations. Thus, the system can be utilized to increase the resiliency of coastal ecosystems and the sustainability of coastal communities that depend on these ecosystems.

[0028] Further, the system is configured to execute the Method SI 00 described herein via a set of autonomous underwater vehicles (hereafter referred to as “AUVs”) configured to harvest the quantity of seagrass seeds, deposit the quantity of seagrass seeds at the deployment station, receive the quantity of seagrass seeds from the deployment station, and plant the quantity of seagrass seeds. In one implementation, the AUVs executing the Method S100 can include a set of scanning AUVs 154, planting AUVs, and harvesting AUVs. For example, the scanning AUV 154 can include a set of integrated sensors for imaging and / or sensing areas within the body of water to evaluate the areas as potential harvesting or planting locations. Additionally, the harvesting AUV can include integrated hardware for detaching the quantity of seagrass seeds from seagrass plants and capturing the quantity of seagrass seeds for transport back to the deployment station, while the planting AUV can include integrated hardware such as a plow to deposit the quantity of seagrass seeds into a sediment bed. However, in another implementation, the Method S100 is executed via a set of modular AUVs that the deployment station can dynamically retool with relevant hardware for each Step of the Method. For example, the deployment station can attach a harvesting tool to a modular AUV and deploy the modular AUVto a harvesting site. Upon the return of the modular AUV from harvesting, the deployment station can retool the modular AUV with a planting module and deploy the modular AUV to a restoration site. Therefore, the Method SI 00 can be executed with specialized AUVs or modular AUVs without the need for retooling or navigation by human operators.6. System

[0029] Generally, the system 100 can include: a set of AUVs (e.g., a set of modular AUVs, which can be equipped with distinct modules, or a set of specialized AUVs) to execute the Steps of the Method SI 00; and a deployment station from which the set of AUVs can return for additional energy or fuel, deposit harvested the quantity of seagrass seeds, and receive an additional quantity of seagrass seeds to plant within the restoration site 108. More specifically, components of the system 100 can be controlled autonomously or semi-autonomously (e.g., with occasional remote intervention by an operator). Additionally, individual components of the system 100 can communicate with each other or with external servers via wireless or wired communication and over local or wide area networks. For example, each AUV can communicate with the deployment station 122 and / or other AUVs to coordinate specific Steps of the Method SI 00, and the deployment station 122 can communicate over the internet with servers executing Steps of the Method SI 00. Thus, the system 100 can include a distributed electromechanical system including multiple independently operating subsystems executing various Steps of the Method SI 00.

[0030] Each subsystem or component of the system 100 is described in further detail below.6.1. Deployment Station

[0031] Generally, the system 100 can include a deployment station 122, which functions as a central hub for the set of AUVs executing various Steps of the Method S100. More specifically, the deployment station 122 can supply power, seagrass seeds, data, and environmental protection (during adverse weather conditions) to the set of AUVs. In implementations in which the set of AUVs is configured to accept and operate functional modules, the deployment station 122 is configured to autonomously swap modules for the set of AUVs and store these modules when not in use by the set of AUVs. Thus, the deployment station 122 enables deployment of the AUVs near the scanning site 160, the harvesting site 102, and the restoration site 108 within a body of water, thereby minimizing the energy consumed by the AUVs traveling to the scanning site 160, the harvesting site 102, and / or the restoration site 108.

[0032] The deployment station 122 can be implemented as either an onshore platform or an offshore platform. In the onshore platform variation, the onshore platform can be located in shallow water (e.g., at the end of a pier or supported by a set of pylons driven into the seabed) such that the set of AUVs can deploy from the onshore platform. The onshore platform can include a compute subsystem, a communication subsystem, a set of docking locations for the set of AUVs, a seed storage subsystem, and / or a biodegradation subsystem.

[0033] In the offshore variation, the deployment station 122 can exhibit a manned or unmanned floating platform transiently anchored to the seabed or tethered to a boat or another floating craft. However, the offshore variation may also include a propulsion system configured to locate the floating platform at a location without tethering or anchoring. In the tethered variation, the floating platform can include the biodegradation tank 124 and docking locations for the set of AUVs, while the boat or floating craft provides power and / or communications via the tether. The offshore platform variation can include a battery subsystem and a power generation subsystem in addition to the subsystems described above. In this variation, the offshore platform may be positioned more closely to the scanning site 160, the harvesting site 102, and the restoration site 108, thereby reducing the distances traversed by the set of AUVs while executing Steps of the Method SI 00. Additionally or alternatively, the deployment station can navigate and / or maintain position via a propulsive subsystem.

[0034] Generally, the deployment station includes a compute subsystem configured to coordinate the operation of all other subsystems of the deployment station 122. In one implementation, the compute subsystem coordinates the set of AUVs by identifying the scanning site 160, harvesting site, and restoration site, and assigning a specific AUV to each identified area to perform Steps of the Method SI 00. The compute subsystem also manages the other subsystems of the deployment station 122 to ensure proper functioning of these subsystems. The compute subsystem can distribute power to the set of AUVs via the set of docking locations for the set of AUVs. In variations in which the deployment station 122 is an offshore platform, the compute subsystem can manage the production and distribution of power from the power generation subsystem to the battery subsystem. Additionally, in the offshore platform variation, the compute subsystem can control navigation or stabilization features of the offshore platform (e.g., distributing ballast, raising and lowering the anchor, and / or repositioning via onboard thrusters). Furthermore, the compute subsystem can interface with the communication subsystem, which can be configured to communicate wirelessly with the set of AUVs and via wired or wireless (e.g., satellite, cellular) protocols with local or wide-area networks. Thus, the compute subsystemcan indirectly execute Steps of the Method SI 00 by coordinating other electromechanical components of the system.

[0035] Generally, the deployment station 122 includes a biodegradation subsystem defining a biodegradation tank configured to receive the quantity of seagrass seeds and associated biomass from the set of AUVs during the harvesting phase of the Method SI 00. During the harvesting phase of the Method SI 00, the set of AUVs returns to the deployment station 122 to deposit seagrass seed pods or spathes. Depending on the type of seagrass collected by the system, various other biomass, including seagrass fronds and other plant matter, can be collected during the harvesting process. The biodegradation subsystem is configured to: receive the quantity of seagrass seeds and accompanying biomass via the set of docking locations; and allow the accompanying biomass to decompose within the biodegradation tank 124. The biodegradation subsystem also includes a separation mechanism configured to separate the mixture of water, biodegraded biomass, and the quantity of seagrass seeds upon completion of the biodegradation process, resulting in a quantity of seagrass seeds 106 isolated from the accompanying biomass. Thus, the biodegradation subsystem is configured to enable biodegradation of the accompanying biomass and separation of the quantity of seagrass seeds 106 from biodegraded biomass to prepare the quantity of seagrass seeds for planting in subsequent steps of the Method SI 00.

[0036] In one implementation, the separation mechanism of the biodegradation tank can include an agitation mechanism configured to agitate the contents of the biodegradation tank. The contents of the biodegradation tank can include both the quantity of seagrass seeds as well as accompanying biomass captured while harvesting the quantity of seagrass seeds. Over time, the fruit of the quantity of seagrass seeds and the accompanying biomass degrade in the biodegradation tank. The agitation mechanism can stir or shake the contents of the biodegradation tank to reduce the particulate size of the degraded biomass and cause the degraded biomass to float to the surface of the biodegradation tank. The agitation mechanism can include a set of fluid inlets and outlets or a mechanism agitator (e.g., stir bar or whisk) configured to agitate the contents of the biodegradation tank. The agitation mechanism can further include a fluid inlet and a pump configured to pump water from the body of water into the biodegradation tank to overflow the tank, thereby removing the degraded biomass from the tank.

[0037] In one implementation, the separation mechanism of the biodegradation tank can include a sieve mechanism configured to remove accompanying biomass from the biodegradation tank to isolate the quantity of seagrass seeds. In one implementation, the sieve mechanism ischaracterized by a sieve spacing larger than an average seagrass seed diameter, such that the sieve mechanism can capture larger particulates, such as grass fronds and fruit pieces, without capturing the quantity of seagrass seeds. In another implementation, the separation mechanism can include a combination of the agitation mechanism and the sieve mechanism. In this implementation, the agitation mechanism agitates the contents of the biodegradation tank to reduce the particulate size of the degraded biomass and cause the degraded biomass to float to the surface. Then, the sieve mechanism (characterized by a sieve spacing smaller than that of an average seed diameter) can actuate the sieve into an upper portion (e.g., a top half) of the biodegradation tank to capture the degraded biomass and actuate out of the biodegradation tank to remove the degraded biomass.

[0038] In one implementation, the deployment station 122 can include a seed storage subsystem: defining an internal volume; and configured to store the quantity of seagrass seeds in bulk for later transfer to the set of AUVs via the set of docking locations. However, in some implementations, the deployment station 122 can store the quantity of seagrass seeds in the biodegradation tank 124. In one implementation, the seed storage subsystem is filled with water from the body of water while onsite. The seed storage subsystem can then remove water from the internal volume as the quantity of seagrass seeds is deposited into the internal volume via the biodegradation subsystem. Thus, the seed storage subsystem enables the accumulation of the quantity of seagrass seeds after harvesting and biodegradation for later deployment to the set of AUVs during the planting phase of the Method S100.

[0039] Generally, the deployment station 122 includes set of docking locations configured to secure the set of AUVs to the deployment station 122 in order to charge batteries onboard the set of AUVs, transfer data to the set of AUVs, receive a harvested quantity of the quantity of seagrass seeds 106 and accompanying biomass from the set of AUVs, and / or distribute a quantity of seagrass seeds 106 to the set of AUVs for planting by the set of AUVs. More specifically, each docking location in the set of docking locations can include an electromechanical interface enabling the transfer of power, data, and the quantity of seagrass seeds between an AUV and the deployment station 122. In some implementations, the deployment station 122 can include multiple types of docking locations such that each type of docking location is configured for a specific function. For example, in this implementation, the deployment station 122 can include a set of charging and data transfer locations (for charging and data transfer), a set of seed deposit locations (for depositing the quantity of seagrass seeds 106 and accompanying biomass into the biodegradation subsystem), a set of seed loadinglocations (for receiving the quantity of seagrass seeds from the seed storage subsystem), and / or a set of standby locations (for sheltering and conserving AUV power when the set of AUVs are not in use). In implementations in which the set of AUVs is configured to swap out various payloads or modules (e.g., a scanning module, a plow planting module, an injection planting module, a comb mechanism 142 harvesting module, and / or a mower 146 harvesting module) enabling the AUV to execute various Steps of the Method SI 00, the deployment station 122 can include a set of module-swapping locations configured to uninstall and install modules to configure the set of AUVs for specific Steps of the Method S100. Thus, the set of docking locations can enable continuous and autonomous or semi-autonomous operation of the set of AUVs. In one implementation, the set of docking locations can each include an engagement mechanism configured to retain an AUV within a docking location. In one implementation, the compute subsystem of the deployment station 122 is configured to: sense an AUV approaching a docking station and activate the engagement mechanism to retain the AUV; and deactivate the engagement mechanism to free the AUV to travel to a harvesting site or restoration site.

[0040] In one implementation, the power generation subsystem includes a set of photovoltaic panels arranged on upward-facing surfaces of the offshore platform and configured to supply energy for storage by the battery subsystem. In another implementation, the power generation subsystem can include a set of wave energy generators coupled to the exterior of the offshore platform and configured to convert wave energy into electrical energy for storage by the battery subsystem. In another implementation, the power generation subsystem can include a multi-kilowatt wind turbine that converts wind energy into electrical energy for storage by the battery subsystem. In yet another implementation, the power generation subsystem can include a hydrocarbon generator configured to convert hydrocarbons (e.g., including diesel, gasoline, kerosene) into mechanical and electrical energy. The power generation subsystem of the deployment station can include any power modality described herein or combination thereof (e.g., a photovoltaic system paired with a hydrocarbon generator).6.2. AUVs

[0041] Generally, the system 100 includes a set of AUVs configured to execute various steps of the Method SI 00. More specifically, the set of AUVs can: execute scanning operations to identify harvesting and planting sites within a scanning site 160; execute harvesting operations on existing seagrass meadows within a harvesting site to extract a quantity of seagrass seeds 106; and execute planting operations to deposit the quantity of seagrass seeds 106 into the sediment bed within the restoration site 108. Each AUV in the set of AUVs includes an onboard computer,a battery, navigational sensors, data acquisition sensors 156, and / or a set of propulsive units. In one implementation, the system 100 includes a set of scanning AUVs 154, a set of harvesting AUVs, and a set of planting AUVs, where each set of AUVs is configured for execution of the respective Step of the Method SI 00. Alternatively, the system 100 can include a set of modular AUVs configured to retool (e.g., as shown in FIGURE 2 in step S122) at the deployment station 122 with a scanning module, a harvesting module, and / or a planting module such that the same set of AUVs can be used for multiple Steps of the Method S100. Thus, the set of AUVs enables scalable execution of the Steps of the Method SI 00 by operating without human intervention or with minimal human intervention to execute Steps of the Method SI 00.

[0042] The onboard computer of each AUV in the set of AUVs is configured to: receive data from the data acquisition sensors 156; issue commands to the set of propulsive units; communicate with the compute subsystem of the deployment station 122; and execute scanning, harvesting, and / or planting operations depending on the configuration of the AUV. Thus, the onboard computer receives instructions from the deployment station 122 and executes those instructions autonomously.

[0043] The data acquisition sensors 156 of each AUV can include a global navigation satellite system (hereinafter “GNSS”) unit (e.g., GPS, GLONASS, or Galileo unit), a set of optical sensors (e.g., visual, infrared, or multispectral cameras, lidar), a set of sonic sensors (e.g., ultrasonic sensors, sonar), and / or an inertial measurement unit (hereinafter “IMU”). Thus, each AUV in the set of AUVs is capable of sensing the underwater environment to navigate, avoid obstacles, locate the scanning site 160, the harvesting site 102, and the restoration site 108, and / or position itself for harvesting or planting operations.

[0044] The data acquisition sensors 156 of each AUV can also include a set of mapping sensors (e.g., stereoscopic cameras, multibeam sonar, radar, LIDAR), and a set of environmental sensors (e.g., conductivity, depth, temperature, salinity, dissolved oxygen, pCO2, and turbidity). Thus, each AUV is capable of recording, in a detailed manner, the state of the underwater environment at any site of operation. Environmental sensor data can be overlaid on a spatial (voxel / 3D) map generated by individual or stereoscopic cameras, LIDAR, and / or a sonar sensing suite.

[0045] The set of propulsive units includes a set of propellers or thrusters aligned with multiple axes of the AUV and coupled to a frame of the AUV to enable each AUV in the set of AUVs to move in three dimensions within an aquatic environment. Additionally or alternatively, the set of propulsive units can include vectored propulsive units, which are configured to rotate or translate about one or more axes in response to control signals from the onboard computer.

[0046] Generally, each AUV in the set of AUVs navigates by: surfacing to establish an initial location via the GNSS unit; loading any existing voxel maps of the sediment bed at the established location; continuously or periodically utilizing the set of navigational sensors and dead reckoning algorithms to establish a precise location relative to the voxel map; continuously or periodically updating the voxel map with new navigational sensor data; and controlling the set of propulsive units to navigate toward a designated site (i.e., the scanning site 160, the harvesting site 102, the restoration site 108) or along a trajectory suitable for execution of Steps of the Method SI 00. Where no voxel map is available, each AUV will use navigational sensors and a stored GNSS map to precisely track the trajectory of the AUV traveled in relation to the starting point on the surface. In an unmapped environment, each AUV utilizes its navigational sensors for active object detection and avoidance. In one implementation, the AUV can navigate via a doppler velocity log (DVL) navigation sensor configured to sense acoustic waves and determine velocity and distance traveled based on the acoustic waves.6.2.1. Scanning AUVs or Scanning Modules

[0047] Generally, the system 100 can include a set of scanning AUVs 154 or a set of scanning modules for installation on a set of modular AUVs, as shown in FIGURE 3. More specifically, the set of scanning AUVs 154 or scanning modules can include higher fidelity lidar and ultrasonic sensors than the set of navigation sensors installed on the set of AUVs to detect the presence or lack thereof of seagrass meadows on the bed of the body of water. Additionally, the set of scanning AUVs 154 or the set of scanning modules can generate a high-resolution voxel map of the bed of the body of water to aid the set of AUVs in navigation during subsequent Steps of the Method S100. In particular, the set of scanning AUVs 154 or scanning modules can include a set of scanning sensors such as multispectral and hyperspectral cameras, side-scan sonar, lidar, magnetometers, and / or synthetic aperture sonar. Thus, the set of scanning AUVs 154 or the set of scanning modules enables the system 100 to autonomously survey the scanning site 160 and identify the location of the harvesting site 102 and / or the restoration site 108.

[0048] In one implementation, the scanning AUV and / or scanning modules are configured to capture a set of scanning data including one or more of: a set of three-dimensional depth data corresponding to a set of location coordinates; a set of color maps corresponding to the set of location coordinates; and a set of texture maps corresponding to the set of location coordinates.

[0049] The scanning AUV and / or set of scanning modules capture the set of three-dimensional depth data via one or more depth sensors. The set of three-dimensional depth data represents thetopology of a particular area of the seabed associated with the set of location coordinates. The scanning AUV and / or set of scanning modules can use the three-dimensional depth data such as to generate navigation instructions for the AUV and / or to evaluate an area corresponding to the coordinate location for a restoration or harvesting site (e.g., identifying a grade of the area and predicting a likelihood of planting success based on the grade.)

[0050] The scanning AUV and / or set of scanning modules capture the set of color maps by triggering one or more light sensors while traversing a particular coordinate location. The scanning AUV and / or set of scanning modules can generate the set of color maps by collating the light sensor data based on the set of coordinate locations. The scanning AUV and / or set of scanning modules can use the set of color maps to determine a relative density of seagrass and / or a presence of seagrass seeds in an area.

[0051] The scanning AUV and / or set of scanning modules can leverage the light and / or depth sensors to generate a texture map of each coordinate location. Therefore, the AUV can determine a location of a seagrass plant or seed within a particular area.6.2.2. Harvesting AUVs or Harvesting Modules

[0052] Generally, the system 100 can include a set of harvesting AUVs or a set of harvesting modules for installation on the set of modular AUVs. More specifically, the set of harvesting AUVs or the set of harvesting modules are configured to gather a quantity of seagrass seeds 106 and return the quantity of seagrass seeds 106 to the deployment station 122. In particular, the set of harvesting AUVs or the set of harvesting modules can include species-specific robotic systems configured to remove the quantity of seagrass seeds from live seagrass without damaging the seagrass meadow.

[0053] Generally, the set of harvesting AUVs or the set of harvesting modules includes a harvesting tank configured to capture material harvested from a seagrass meadow. For example, the harvesting AUV 114 or set of harvesting modules can include a harvesting tank arranged within the AUV or coupled to an underside of the AUV. In one implementation, the harvesting tank includes an actuating bottom flap configured to: actuate to an open position during harvesting of the quantity of seagrass seeds; and actuate to a closed position, sealing the contents of the harvesting tank, after harvesting (e.g., during transportation of the AUV from the harvesting site 102 to the deployment station 122 to deposit contents of the harvesting tank ). The harvesting module and / or harvesting AUV is configured to harvest the quantity of seagrassseeds (and accompanying biomass) and direct the harvested biomass, including the quantity of seagrass seeds, into the harvesting tank.

[0054] In one implementation, as shown in FIGURES 1 and 4, the set of harvesting AUVs or the set of harvesting modules includes a comb mechanism 142 characterized by a set of teeth 144 spaced to remove seed pods from the seagrass stalk without damaging the seagrass stalk. In one implementation, the comb mechanism 142 can include a set of sharpened edges on the leading edges of the set of teeth 144 configured to sever a seagrass fruit, seed, or seedpod from the seagrass plant. In one implementation, the comb mechanism 142 can include a set of non-rigid flaps between each tooth. The set of non-rigid flaps is configured to bend in response to contact with a seagrass stalk, seed, seedpod, and / or fruit and exert a force on the stalk, seed, seedpod, and / or fruit. The non-rigid flaps are characterized by an elastic face configured to deflect in response to contacting an unripe seed to the seagrass plant, thereby allowing unripe seagrass seeds, seedpods, and / or fruit to pass through the comb mechanism 142 while dislodging ripe seagrass seeds, seedpods, and / or fruit from the seagrass stalk. Therefore, as the harvesting AUV 114 or harvesting module of a modular AUV operates the comb mechanism 142 through the meadow of seagrass, the non-rigid flaps enable the comb mechanism 142 to detach ripe seagrass seeds from the seagrass stalk, while reducing the proportion of unripe seagrass seeds detached from the seagrass stalk.

[0055] In this implementation, the set of harvesting AUVs or the set of harvesting modules can leverage the buoyancy of the seagrass seed pods or individual seagrass seeds to collect the quantity of seagrass seeds 106 as the quantity of seagrass seeds 106 floats upward from the comb mechanism 142 via a net, funnel, and / or other capture mechanism.

[0056] In another implementation, the set of harvesting AUVs or the set of harvesting modules includes a claw or agitator mechanism configured to agitate stalks of seagrass to release seed pods from the stalks of seagrass. In one implementation, the agitator mechanism mechanically agitates the seagrass, such as by running a claw or other tool through the seagrass to shake the quantity of seagrass seeds off the seagrass. Alternatively, in one implementation, the agitator mechanism can utilize water jets or a mechanical fin to create a current to fluidically agitate the seagrass to detach the quantity of seagrass seeds. As described above, the set of harvesting AUVs or the set of harvesting modules leverage the buoyancy of the seagrass seed pods or the quantity of seagrass seeds as they float upward from the stalks of seagrass to capture the quantity of seagrass seeds 106 within the harvesting tank.

[0057] In one implementation, as shown in FIGURE 5, the set of harvesting AUVs or the set of harvesting modules includes a mower 146 configured to cut the seagrass or cut the quantity of seagrass seeds (e.g., the fruit or seedpods) from the seagrass frond. In yet another implementation, the mower 146 includes a suppression mechanism configured to selectively suppress the fronds of the seagrass while leaving spathes or seed pods of the seagrass exposed for cutting by the mowing mechanism. The mower 146 can include a set of articulating teeth 148 or a set of spinning blades configured to cut the seagrass or remove the quantity of seagrass seeds from the seagrass fronds.6.2.3. Planting AUVs or Planting Modules

[0058] Generally, the system 100 can include a set of planting AUVs or a set of planting modules for installation on the set of modular AUVs. More specifically, the set of planting AUVs or the set of planting modules are configured to: receive a quantity of seagrass seeds 106 from the deployment station 122 using water as the transport mechanism to transport the quantity of seagrass seeds from the deployment station 122 to a depositing subsystem; and deposit the quantity of seagrass seeds 106 into a sediment bed within the restoration area using water as the transport medium for transporting each seagrass seed into the sediment bed.

[0059] In one implementation, each planting AUV in the set of planting AUVs can include multiple depositing subsystems or multiple planting modules to enable the depositing of multiple seagrass seeds of the quantity of seagrass seeds simultaneously using separate depositing subsystems.

[0060] In one implementation, the planting modules described herein represent the hardware described in the U.S. Provisional Application No. 63 / 717,733 filed on 07-NOV-2024.6.2.3.1. Metering Subsystem

[0061] In one implementation, the planting AUV 112 can include a metering subsystem configured to meter a flow of the quantity of seagrass seeds to the depositing mechanism via a storage and agitation tank. More specifically, the metering subsystem can meter the quantity of seagrass seeds 106 to regulate a flow rate of the quantity of seagrass seeds 106 into the seed depositing mechanism. For example, regulating the flow rate of the quantity of seagrass seeds via the metering subsystem can include agitating a flow of the quantity of seagrass seeds to restrict the flow of the quantity of seagrass seeds into the seed depositing mechanism to a target flow rate corresponding to a target seed spacing.

[0062] Generally, the storage and agitation tank is configured to hold a quantity of seagrass seeds (e.g., 3000 seagrass seeds ) for subsequent planting and agitation to transition the quantity of seagrass seeds toward downstream components for subsequent isolation and injection into the sediment. Additionally, the storage and agitation tank prevents seed blockages from forming at an outlet aperture by directing fluid flow to create turbulent zones or vortexes around the outlet aperture, thereby preventing seeds of the quantity of seagrass seeds from accumulating there. More specifically, the storage and agitation tank is configured to store a quantity of seagrass seeds 106 in a fluid environment, wherein the storage and agitation tank defines an outlet aperture and is configured to transition a set of the quantity of seagrass seeds from the quantity of seagrass toward the outlet aperture. Thus, the storage and agitation tank enables the storage of the quantity of seagrass seeds utilizing a fluid storage medium.

[0063] The storage and agitation tank can include a seed inlet to enable the transfer of a quantity of seagrass seeds 106 into an internal volume of the storage and agitation assembly. In one implementation, the seed inlet can fluidly couple to or abut a seed outlet 138 of the biodegradation tank 124 of the deployment station 122 when the AUV occupies a docking location of the deployment station 122. Therefore, the seed inlet of the storage and agitation tank is configured to receive the quantity of seagrass seeds from the biodegradation tank 124 from the outlet of the biodegradation tank 124. Upon loading the quantity of seagrass seeds 106 into the storage and agitation assembly from the biodegradation tank 124, the seed inlet can be closed via a cap or electromechanical gate.

[0064] The storage and agitation tank can define an internal volume based on the intended application of the system 100 and, more specifically, based on the number of the quantity of seagrass seeds to be deployed by the system 100 prior to refilling. In one example, the storage and agitation tank can define an internal volume sufficient to contain 3000 seagrass seeds.

[0065] The storage and agitation tank can include an agitation mechanism to prevent seed blockages from occurring at the outlet aperture of the storage and agitation assembly. The storage and agitation tank can include a turbulating funnel or a vortex chamber to prevent blockages from forming at the outlet aperture.

[0066] The storage and agitation tank can include a set of fluid inlets to cause a fluid flow out of the outlet aperture and transition the quantity of seagrass seeds downstream from the storage and agitation tank toward other components of the metering subsystem. Generally, the set of fluid inlets is fed by a set of pumps of a pump subsystem. In one implementation, the system 100 supplies the storage and agitation tank with water sourced from the body of water in which thesystem 100 is located by pumping ambient water into the storage and agitation tank via the pump subsystem.

[0067] In one implementation, the depositing subsystem includes a storage and agitation tank, a vortex tank, a water pump, an electromechanical valve, a seed magazine, and a seed depositing mechanism. In another implementation, the depositing subsystem includes a centrifugal flow pump within the storage and agitation tank. In yet another implementation, the depositing subsystem utilizes a differential pressure over a set of funnels in the storage and agitation tank to transport the quantity of seagrass seeds from the storage and agitation tank toward the seed depositing mechanism. Thus, the set of planting AUVs or the set of planting modules utilizes the above components to separate individual seagrass seeds of the quantity of seagrass seeds from the storage and agitation tank and locate individual seagrass seeds of the quantity of seagrass seeds within the seed depositing mechanism for subsequent deposition into the sediment bed without significant jamming issues while using water as the transport medium.

[0068] In one implementation, the storage and agitation tank defines a cylindrical internal volume containing water and the quantity of seagrass seeds. In one implementation, the storage and agitation tank includes an opening and closing mechanism that opens in response to the presence of a complementarily-shaped interface to enable the quantity of seagrass seeds to flow into the storage and agitation tank from the biodegradation tank 124 on the deployment station 122 while the AUV is docked at the deployment station 122. In implementations including the vortex tank, the storage and agitation tank can house a conveyor mechanism configured to convey the quantity of seagrass seeds from the storage and agitation tank to the vortex tank. In one example of this implementation, the conveyor mechanism is a helical conveyor mechanism configured to convey the quantity of seagrass seeds 106 from the storage and agitation tank to the vortex tank.

[0069] In implementations including the vortex tank, the vortex tank defines a conical internal volume with a water inlet port fluidically connected to the water pump and configured to inject water into the vortex tank roughly parallel to the surface of the vortex tank at the position of the water inlet point, thereby enabling the creation and sustenance of a water vortex within the vortex tank. In this implementation, the vortex tank is arranged to: receive the quantity of seagrass seeds at the larger radius end of the conical internal volume; transport the quantity of seagrass seeds from the larger radius end of the conical internal volume to the smaller radius end of the conical internal volume; and eject the quantity of seagrass seeds at the smaller radius end of the conical internal volume. In this implementation, the electromechanical valve is arranged atthe smaller radius end of the conical internal volume and is configured to meter the quantity of seagrass seeds through the smaller radius end. Thus, the vortex tank causes the quantity of seagrass seeds to move circularly within the chamber and, as the initial kinetic energy of the quantity of seagrass seeds is lost, the quantity of seagrass seeds steadily travel to the lower radius end of the conical internal volume, thereby enabling the electromechanical valve to eject individual seeds of the quantity of seagrass seeds from the lower radius end of the conical internal volume of the vortex tank at a steady rate.

[0070] In implementations including the centrifugal flow pump, the depositing subsystem introduces a similar circular movement of the quantity of seagrass seeds within the storage and agitation tank instead of within a separate vortex tank. In this implementation, one or more outlet ports are arranged on the internal surface of the storage and agitation tank, and one or more electromechanical valves limit the flow of the quantity of seagrass seeds through the one or more outlet ports.

[0071] In implementations including the set of funnels in the storage and agitation tank, the depositing subsystem can include a set of funnels inset into one end of the storage and agitation tank, each fluidically coupled to an electromechanical valve. In this implementation, the depositing subsystem can include a hydraulic pump to establish a pressure differential across the electromechanical valve. Thus, upon opening the electromechanical valve, the quantity of seagrass seeds progresses through the set of funnels in the storage and agitation tank toward the seed depositing mechanism.

[0072] In one implementation, the quantity of seagrass seeds and water flow through tubes or pipes from the electromechanical valve toward a seed magazine. In one example, the seed magazine includes a set of seed chambers, each seed chamber configured to hold a single seagrass seed. In this implementation, the depositing subsystem can include rollers or other mechanisms to position individual seeds of the quantity of seagrass seeds within each seed chamber. In this implementation, the seed magazine can rotate and / or translate relative to the seed depositing mechanism to position a seed chamber containing a seagrass seed relative to the seed depositing mechanism to enable the seed depositing mechanism to deposit the quantity of seagrass seeds into the sediment bed of the restoration site 108.6.2.3.2. Injection Mechanism

[0073] As shown in FIGURES 1 and 6, the planting AUV of the system 100 can include a depositing mechanism defining an injection mechanism 128 configured to inject the quantity ofseagrass seeds into the sediment to a planting depth through some intervening volume of water, thereby ensuring that the seagrass seed is positioned to begin growing. In one implementation, the injection mechanism 128 defines the injection subassembly described in the U.S. Provisional Application No. 63 / 717,733 filed on 07-NOV-2024.

[0074] In one implementation, the injection mechanism 128 can include: an extendable outer tube 132 configured to pass through an injection seed chamber; and an extensible inner plunger configured to drive the seagrass seed within the injection seed chamber through the length of an extensible outer tube 132. In this implementation, the outer tube 132 and the inner plunger are driven by independent linear actuators configured to extend the outer tube 132 and the inner plunger through the seed chamber and into the sediment layer below. In one example, the outer tube 132 and inner plunger are configured to extend up to 50 centimeters beyond the distal end of the seed chamber. Additionally, the outer tube 132 can be constructed from a high-strength, abrasion-resistant, and corrosion-resistant material to withstand repeated insertions into the sediment layer and exposure to the body of water. In this implementation, the inner plunger can include a gasket to form a seal between the outer tube 132 and the inner plunger, thereby improving the effectiveness of the inner plunger.

[0075] Thus, in this implementation, the system 100 can inject the quantity of seagrass seeds into the sediment layer via the injection mechanism by: extending the outer tube 132 through the seed chamber and into the sediment layer to create an enclosed passage for the seagrass seed to travel through into the sediment layer; and extending the inner plunger to dislodge the seagrass seed from the seed chamber and push the seagrass seed through the enclosed passage and into the sediment layer. The system 100 can then retract both the outer tube 132 and the inner plunger back through the proximal end of the seed chamber. The system 100 can then repeat this process to inject additional seagrass seeds into the sediment layer.

[0076] In one implementation, the injection mechanism 128 can include an outer tube 132 and an inner plunger with corresponding lead screw mechanisms effective to translate the outer tube 132 and the inner plunger along linear guides. In this implementation, the injection mechanism 128 can include independent electric motors driving the lead screw mechanism of the outer tube 132 and the inner plunger. Alternatively, the injection mechanism 128 can include corresponding rotary linkages configured to extend and retract the outer tube 132 and the inner plunger. Thus, the injection mechanism 128 can include any linear actuator or combination of linear actuators to drive the outer tube 132 and inner plunger according to the procedure described above.6.2.3.3.Plow Mechanism

[0077] In another implementation, as shown in FIGURE 7 the system 100 can include a depositing mechanism defining a plow mechanism 134 configured to: plow a furrow 158 in the sediment bed of the restoration site 108; insert a quantity of seagrass seeds 106 into the furrow 158; and cover the quantity of seagrass seeds with sediment. The plow mechanism 134 includes: a leading edge 136 configured to dig the furrow 158; a seed output configured to deposit one or more seagrass seeds of the quantity of seagrass seeds in the furrow 158; and a compactor plate 140 configured to at least partially fill in the furrow 158 with sediment surrounding the furrow 158 to cover the seagrass seed.

[0078] Generally, the AUV operates the plow mechanism 134 through a restoration site, such that the leading edge 136 leads and the compactor plate 140 follows. During seed depositing, the AUV operates the plow mechanism 134 to the sediment bed, such that a lower portion of the leading edge 136 is embedded under a layer of sediment. As the AUV moves forward sediment bed, the leading edge 136 digs the furrow 158 in the sediment bed. The seed outlet 138 of the plow mechanism 134 is positioned behind the leading edge 136 and in front of the compactor plate 140 to deposit a seed in the furrow 158 before the furrow 158 is filled. As the AUV passes through the sediment bed, the furrow 158 is partially or fully filled in by the compactor plate 140, and each seed is covered with a layer of sediment.

[0079] In one implementation, the leading edge 136 is configured to dig a furrow 158 characterized by a target depth and a target width. For example, the target depth may be between half a centimeter and four centimeters, depending on the species of seagrass being planted. The target width may be approximately half a centimeter to three centimeters wide, depending on the size of the seagrass seeds being planted. In one implementation, the plow mechanism 134 can include a leading edge 136 of varying geometry and size configured to dig the furrow 158 to the target width and depth. In the example of modular AUVs, the deployment station 122 can select a leading edge 136 of a set of leading edges based on the restoration site 108 and the species of seagrass, such that the selected leading edge 136 digs the furrow 158 to the target dimensions. Similarly, the compactor plate 140 can actuate to cover the quantity of seagrass seeds with a target quantity of sediment, such that the quantity of seagrass seeds is planted at the target depth. The deployment station 122 can also equip a modular AUV with a selected compactor plate 140 that is configured based on the species of seagrass and the restoration site.

[0080] Furthermore, the plow mechanism 134 receives a flow of the quantity of seagrass seeds from the metering subsystem and transports the quantity of seagrass seeds through the seedoutput. The metering subsystem can therefore regulate a flow rate of the quantity of seagrass seeds into the plow mechanism 134, such that the quantity of seagrass seeds is planted by the plow mechanism 134 at a target seed spacing. For example, based on a speed of the AUV through the restoration site 108, the metering subsystem can dispense the quantity of seagrass seeds to the plow mechanism 134, such as a target flow rate corresponding to the target seed interval within the furrow 158 (e.g., 1 to 12 inches).7. Method

[0081] Generally, the Method SI 00 of autonomously planting the quantity of seagrass seeds includes: a scanning phase; a harvesting phase; a seed isolation phase; and a planting phase. During the scanning phase: a scanning AUV collects scanning data to identify harvesting sites. During the harvesting phase: the deployment station 122 deploys a harvesting AUV to detach a quantity of the quantity of seagrass seeds from a meadow of seagrass via a harvesting tool (e.g., a mower 146, comb mechanism 142, or agitator) in Step SI 02; the harvesting AUV harvests the quantity of seagrass seeds in Step SI 04; and the harvesting AUV 114 transfers the quantity of seagrass seeds 106 and accompanying biomass to a biodegradation tank of the deployment station 122 in Step S106. During the seed isolation phase (e.g., including Step S108): the biodegradation tank 124 agitates the quantity of seagrass seeds and accompanying biomass to separate the quantity of seagrass seeds from the degraded biomass (e.g., seagrass fronds and seagrass fruits). Finally, during the planting phase: the deployment station 122 transfers the isolated quantity of seagrass seeds to a planting AUV in Step SI 10; deploys the planting AUV 112 to the restoration site 108 to plant the quantity of seagrass seeds into the sediment bed of the restoration site 108 in Step SI 12; and the planting AUV meters the quantity of seagrass seeds in Step SI 14 and deposits the quantity of seagrass seeds into the sediment in Step SI 16. Each of these phases and the steps within these phases are described in greater detail below.

[0082] In one variation, as shown in FIGURE 1, the Method SI 00 for planting seagrass includes deploying a harvesting AUV from a deployment station within a body of water to a harvesting site containing a meadow of seagrass, and, via the harvesting AUV 114, harvesting the quantity of seagrass seeds 106 from the harvesting site 102. The harvesting AUV 114 deposits the quantity of seagrass seeds 106 and accompanying biomass at a biodegradation tank of the deployment station 122. At the deployment station 122, the quantity of seagrass seeds 106 is isolated from the accompanying biomass in the biodegradation tank 124, and the quantity of seagrass seeds 106 is loaded into a planting AUV. The planting AUV 112 is then deployed fromthe deployment station 122 to a restoration site within the body of water. At the planting AUV 112, the quantity of seagrass seeds 106 is metered into a seed depositing mechanism, and, via the seed depositing mechanism, the quantity of seagrass seeds 106 is deposited into a sediment bed of the restoration site 108 utilizing water as a transport medium.

[0083] In one variation, the Method SI 00 includes deploying a harvesting AUV to a harvesting site with a seagrass meadow in a body of water. The harvesting AUV 114 collects the quantity of seagrass seeds and deposits them, along with accompanying biomass, at a biodegradation tank of a deployment station on the water's surface. At the deployment station 122, the quantity of seagrass seeds is isolated from the biomass, loaded into a planting AUV, and then transported to a restoration site. Finally, the planting AUV 112 deposits the quantity of seagrass seeds into the sediment bed, using water as a transport medium.

[0084] In one variation, the Method SI 00 for planting the quantity of seagrass seeds includes utilizing a harvesting AUV to collect the quantity of seagrass seeds from a harvesting site containing a seagrass meadow within a body of water. Subsequently, the harvesting AUV 114 deposits the collected quantity of seagrass seeds and accompanying biomass at a biodegradation tank located at a deployment station on the water's surface. At the deployment station 122, the quantity of seagrass seeds is isolated from the biomass and then loaded onto a planting AUV, which is specifically configured for planting operations. Finally, this planting AUV deposits the quantity of seagrass seeds into the sediment bed of a restoration site within the same body of water, employing water as a transport medium for this process.

[0085] In one variation, the Method SI 00 for depositing the quantity of seagrass seeds into a sediment bed within a body of water includes loading a quantity of seagrass seeds 106 into a storage and agitation tank of an AUV, metering the quantity of seagrass seeds 106 through an outlet of the storage and agitation tank toward a seed depositing mechanism, and depositing the quantity of seagrass seeds 106 into the sediment bed within the body of water.

[0086] In one variation, the Method SI 00 can be executed by a modular AUV, as shown in FIGURE 2. In this variation, deploying the harvesting AUV in Step SI 02 includes attaching a harvesting module to the modular AUV. The method can further include detaching the harvesting module to retool the modular AUV in Step S122. Additionally, deploying the planting AUV in Step SI 12 includes attaching the planting module to the modular AUV. As shown in FIGURE 2, this variation of the Method SI 00 can be executed by a single modular AUV that is retooled in Step S122 between the harvesting phase and the planting phase.7.1. Scanning and Site Identification

[0087] In one variation of the Method SI 00, as shown in FIGURE 3, the system 100 can deploy a set of scanning AUVs to scan a scanning site 160 to identify a suitable harvesting site and / or a suitable restoration site. More specifically, the system 100 can: deploy a set of scanning AUVs 154 configured to detect seagrass meadows within the body of water in Step SI 18; collect data representing the presence of seagrass meadows within the body of water in Step S120; identify the harvesting site 102 based on the scanning data, the harvesting site 102 containing the meadow of seagrass bearing seagrass seeds; and identify the restoration site 108 containing a suitable sediment bed in which seagrass 104 can grow. In one implementation, the system 100 can execute pre-trained models to identify the presence of particular species of seagrass 104 on the bed of the body of water based on multispectral images and sonar data. In another implementation, the system 100 can utilize a pre-trained model to identify the presence of sediment beds suitable for seagrass 104 planting. Thus, the system 100 can utilize scanning technologies in advance of the harvesting and planting Steps of the Method SI 00 to ensure the success of those Steps of the Method SI 00.

[0088] In one implementation, the system 100 can periodically deploy the set of scanning AUVs 154 to identify the maturity of budding seagrass within the harvesting site 102 and / or to identify a harvesting site. In this implementation, the system 100 can utilize a pre-trained seagrass maturity model and the data from the scan to identify regions of mature seagrass that can be harvested for seagrass seeds. In this implementation, the system 100 can also estimate a target time for seed harvesting for a given harvesting site. Thus, the system 100 can utilize an initial scan to improve the yield and efficiency of the seagrass harvesting phase of the Method SI 00.

[0089] In another implementation, the system 100 can generate a high-resolution voxel map of the scanning site 160, including the harvesting site 102 and the restoration site 108, in order to improve the navigation of AUVs in subsequent Steps of the Method S100. In this implementation, the system 100 can aggregate scan data from multiple AUVs and, utilizing GNSS positioning and dead reckoning, reconstruct a voxel map of the bed of the body of water within the scanning site 160. Thus, the system 100 can improve the dimensional accuracy of a navigational voxel map for use during the harvesting and planting phases of the Method SI 00.

[0090] In one implementation, the deployment station 122 deploys a scanning AUV (or a modular AUV with a scanning module) within the body of water to collect scanning data. The scanning AUV is configured to capture scanning data including at least one of a set of three-dimensional depth data corresponding to a set of location coordinates; a set of color mapscorresponding to the set of location coordinates; and a set of texture maps corresponding to the set of location coordinates. Based on the scanning data, the onboard computer of the AUV (or the compute subsystem of the deployment station 122) can identify a set of seagrass meadow regions within the body of water. For example, in response to a texture map of the scanning data featuring an area of dense striations, the onboard computer or compute subsystem of the deployment station 122 can identify the area corresponding to that texture map as including a seagrass meadow. Further, in response to a color map and / or texture map of an area depicting shapes consistent with seagrass seeds, the onboard computer or compute subsystem can identify a seagrass meadow with seagrass seeds ready for harvesting.

[0091] In one implementation, the onboard computer, the compute subsystem, or a remote computer communicating with the onboard computer or computer subsystem can, for each seagrass meadow region in the set of seagrass meadow regions, estimate a seagrass seed density based on a seagrass seed model. For example, the onboard computer or compute subsystem can input the raw scanning data or processed texture, depth, or color maps into a model pre-trained to estimate a seagrass seed density at the coordinate location. The onboard computer or compute subsystem can then define a harvesting site for a harvesting AUV to harvest in the future based on: the seagrass seed density of each seagrass meadow region in the set of seagrass meadow regions; and a relative location of each seagrass meadow region in the set of seagrass meadow regions. For example, the onboard computer or compute subsystem can prioritize identifying harvesting sites that are closest in distance to the deployment station 122 or most easily accessible by an AUV.7.2. Harvesting

[0092] Generally, the system 100 can deploy a set of harvesting AUVs to a harvesting site in Step SI 02 to obtain a quantity of seagrass seeds 106 for subsequent planting within the restoration site 108 without permanently damaging the existing seagrass meadow within the harvesting site 102. More specifically, the system 100 can: deploy a set of harvesting AUVs to a harvesting site containing a meadow of seagrass within a body of water, the set of harvesting AUVs configured to harvest a quantity of seagrass seeds 106 in Step SI 02; harvest the quantity of seagrass seeds 106 from the harvesting site 102 in Step SI 04; and deposit, via the set of harvesting AUVs, the quantity of seagrass seeds 106 and accompanying biomass at a biodegradation tank in Step SI 06. The system 100 can utilize various species-specific mechanisms described above with respect to the set of harvesting AUVs and the set of harvesting modules to remove the quantity of seagrass seeds, seed pods, or spathes. Thus, the system 100can autonomously gather the quantity of seagrass seeds 106 for subsequent planting without requiring an external supply of seagrass seeds.

[0093] Upon dislodging the quantity of seagrass seeds 106 from the harvesting site 102 and collecting the quantity of seagrass seeds 106 onboard the set of AUVs, the system 100 can transfer the quantity of seagrass seeds 106 and any accompanying biomass also collected during the harvesting phase of the Method SI 00 from the set of AUVs to the biodegradation subsystem of the deployment station 122. Generally, the system 100 can utilize any effective conveyance mechanism to complete this transfer, such as a pump system, a helical conveyor, etc.

[0094] In one implementation, the harvesting stage is completed by a harvesting AUV. More specifically, the deployment station 122 deploys the harvesting AUV 114 to the harvesting site 102 by: selecting the harvesting AUV 114 from a set of harvesting AUVs based on a set of harvesting factors including a charging level of the harvesting AUV 114, an operational condition of the harvesting AUV 114, a species of the quantity of seagrass seeds 106 for harvesting via the harvesting AUV 114; and a harvesting module installation status. In response to selecting the harvesting AUV 114, the deployment station 122 disengages the harvesting AUV 114 from a first docking location of the deployment station 122. For example, the deployment station 122 may select the available harvesting AUV with the highest battery level, indicating an operational condition (e.g., an absence of damage requiring repair), and exhibiting a harvesting module configured to harvest the particular species of seagrass.

[0095] In another implementation in which the Method S100 is executed with modular AUVs, the deployment station 122 deploys the modular AUV with a harvesting module 114 to the harvesting site 102 by: selecting a harvesting module from a set of harvesting modules based on a species of seagrass within the harvesting site 102; and selecting a first modular AUV from a set of modular AUVs based on a set of harvesting device factors including a charging level of the first modular AUV; and an operational condition of the first modular AUV. For example, the quantity of seagrass seeds of a first species of seagrass can be more effectively harvested via a comb mechanism 142, while the quantity of seagrass seeds of a second species of seagrass can be more effectively harvested via a mower 146. The deployment station 122 therefore selects the harvesting module suitable for harvesting the quantity of seagrass seeds of the species of seagrass most effectively. Further, the deployment station 122 can select the modular AUV with the highest battery level indicating an operational condition. The deployment station 122 then couples the harvesting module to the first modular AUV and, in response to coupling theharvesting module to the first modular AUV, the deployment station 122 disengages the first modular AUV from a first docking location of the deployment station 122.

[0096] In one implementation, the harvesting AUV 114 (or a modular AUV featuring a harvesting module) can harvest the quantity of seagrass seeds with a comb mechanism 142 by detaching the quantity of seagrass seeds 106 from the meadow of seagrass within the harvesting site 102 via the comb mechanism 142 of the harvesting AUV 114 characterized by a tooth spacing (e.g., a spacing between the teeth of the comb mechanism) corresponding to a seed size of the meadow of seagrass; and capturing the quantity of seagrass seeds 106 and the accompanying biomass detached by the comb mechanism 142. Before deploying the AUV with the comb mechanism 142, the deployment station 122 may select a comb mechanism 142 with a target tooth spacing corresponding to a size of the seagrass seeds of the species of seagrass to be harvested. Then, the deployment station 122 selects and deploys the AUV with the comb mechanism 142 characterized by the target tooth spacing. For example, for a species of seagrass characterized by a seed diameter above one half inch and below one inch, the deployment station 122 will deploy an AUV with a comb mechanism 142 featuring a variable tooth spacing between one half inch and one inch.

[0097] In one implementation, the harvesting AUV 114 (or a modular AUV featuring a harvesting module) can harvest the quantity of seagrass seeds with a mower 146 by: cutting the quantity of seagrass seeds 106 from the meadow of seagrass within the harvesting site 102 via a mower 146 of the harvesting AUV 114; and capturing the quantity of seagrass seeds 106 and the accompanying biomass cut by the mower 146. Therefore, the harvesting AUV 114 can be configured to harvest the quantity of seagrass seeds by cutting them off the seagrass fronds with the articulating teeth 148 of the mower 146.

[0098] In one implementation, the harvesting AUV 114 (or a modular AUV featuring a harvesting module) can harvest the quantity of seagrass seeds with an agitator by: detaching the quantity of seagrass seeds 106 from the meadow of seagrass within the harvesting site 102 via an agitator of the harvesting AUV 114; and capturing the quantity of seagrass seeds 106 and the accompanying biomass detached by the agitator. For example, the agitator can include a mechanical agitation mechanism configured to shake or disturb the seagrass to detach the quantity of seagrass seeds from the seagrass fronds. Alternatively, the agitator can detach the quantity of seagrass seeds from the seagrass by creating a water current through the seagrass meadow by actuating a mechanical fin or pumping water from an outlet of the agitator. As the AUV passes through the seagrass meadow, the quantity of seagrass seeds that are detached fromthe seagrass fronds floats upwards toward the AUV and are captured within a harvesting tank of the AUV

[0099] In one implementation, the system 100 can harvest the quantity of seagrass seeds 106 from the harvesting site 102 in Step SI 04 via a surface vehicle. For example, at some harvesting sites seagrass can grow near the surface (e.g., less than 3 feet underwater) such that a surface vehicle (e.g.,. the deployment station, an AUV, a manned or unmanned boat) equipped with a harvesting module (e.g., a comb or mower) can harvest the quantity of seagrass seeds.7.3. Seed Isolation

[0100] Generally, the system 100 can isolate the quantity of seagrass seeds 106 from the accompanying biomass in Step SI 08 by allowing the accompanying biomass to biodegrade within the biodegradation subsystem and separating the quantity of seagrass seeds from the degraded biomass. For example, the system 100 can include a sieve or scoop that is actuated to remove a layer of floating degraded biomass from the biodegradation tank 124. Although this process occurs naturally in the body of water to enable the quantity of seagrass seeds to fall back to the sediment bed, in one implementation, the system 100 can increase the rate of biodegradation by agitating or heating the mixture of the quantity of seagrass seeds 106 and the accompanying biomass. Upon sufficient degradation of the accompanying biomass (e.g., after the average particle diameter of the accompanying biomass is below a threshold, or the turbidity of the biodegradation tank 124 reaches a threshold), the system 100 can drain the biodegradation tank 124 through a sieve with a diameter smaller than the minimum diameter of the seagrass seeds 106, thereby leaving the quantity of seagrass seeds 106 for transport to the set of planting AUVs. Thus, the system 100 can utilize natural processes to remove incidentally harvested organic matter from the quantity of seagrass seeds 106.

[0101] In one implementation, the system 100 can utilize the same tank for both biodegradation and storage by draining the fouled water from the biodegradation process and replacing this water with additional water from the body of water. Alternatively, the system 100 can flush the biodegradation tank 124 to transfer the quantity of seagrass seeds to a bulk storage tank onboard the deployment station 122 in order to make space for an incoming quantity of seagrass seeds.

[0102] In one implementation, the system 100 can isolate the quantity of seagrass seeds 106 from the biodegradation tank 124 by: agitating a volume of water within the biodegradation tank 124 causing the quantity of seagrass seeds 106 to sink to within the biodegradation tank 124 and a quantity of degraded biomass to collect above the quantity of seagrass seeds 106; and removing the quantity of degraded biomass from the biodegradation tank 124 via a sieve. For example, thebiodegradation tank 124 can include a mechanical stirrer configured to agitate the water within the biodegradation tank 124 or include a set of water inlets and outlets through which pumps move water into and out of the biodegradation tank 124 to move water through the biomass within the biodegradation tank 124. For example, the deployment station 122 can include an actuatable sieve or scoop configured to remove the layer of degraded biomass that has separated from the quantity of seagrass seeds as it has degraded. Therefore, the biodegradation tank 124 is configured to agitate the contents within the tank to free degrading biomass (e.g., fruit) from the quantity of seagrass seeds and remove the non-seed contents from the tank.

[0103] In one implementation, the system 100 can isolate the quantity of seagrass seeds 106 from the biodegradation tank 124 by: agitating a volume of water within the biodegradation tank 124 causing the quantity of seagrass seeds 106 to sink to within the biodegradation tank 124 and a quantity of degraded biomass to collect above the quantity of seagrass seeds 106; and pumping water into the biodegradation causing the quantity of degraded biomass to overflow from the biodegradation tank 124. As described above, the biodegradation tank 124 can agitate the contents of a tank via a stirrer or create currents within the water of the tank. However, the deployment station 122 can be further configured to pump water into the biodegradation tank 124 without removing water from an outlet of the biodegradation tank 124, thereby causing the biodegradation tank 124 to overflow, removing the layer of degraded biomass that collects on an upper surface of the water within the biodegradation tank 124.7.4. Planting

[0104] Generally, the system 100 can execute the Method SI 00 to load the quantity of seagrass seeds from the biodegradation tank or bulk storage tank on the deployment station 122 to the storage and agitation tank onboard the AUV in Step SI 10. More specifically, the system 100 can: load a quantity of seagrass seeds 106 into a storage and agitation tank; transport, with water as the transport medium, the quantity of seagrass seeds 106 from the storage and agitation tank to a vortex tank configured to sustain a fluid vortex within a conical internal volume, the fluid vortex causing the quantity of seagrass seeds to progress toward an outlet aperture of the vortex tank; meter the quantity of seagrass seeds 106 through the outlet aperture of the vortex tank and into a seed depositing mechanism; and deposit the quantity of seagrass seeds 106 into the target sediment bed within the body of water. In particular, the system 100 can utilize the depositing subsystem described above to follow terrain within the restoration site 108 such that the seed depositing mechanism can be extended into the sediment bed, thereby enabling the system 100 to deposit the quantity of seagrass seeds under the surface layer of sediment.

[0105] In one implementation, the planting phase of the Method SI 00 including metering the quantity of seagrass seeds in Step SI 14 and depositing the quantity of seagrass seeds into the sediment in Step SI 16 is executed by a planting AUV including a storage and agitation tank and a seed depositing mechanism. Alternatively, any step of the planting phase of the Method SI 00 can be executed by a modular AUV or a set of modular AUVs that includes a transiently attached modular seed depositing mechanism and / or a storage and agitation tank. For example, a modular AUV with a harvesting module 114 can complete steps SI 04 and SI 06 of the harvesting phase of the Method SI 00 and then be retooled with a planting module by the deployment station 122 to complete the Steps SI 14 and SI 16 of the planting phase.

[0106] More specifically, for a system executing the Method SI 00 with a planting AUV, deploying the planting AUV 112 to the restoration site 108 in Step SI 12 can include selecting the planting AUV 112 from a set of planting AUVs based on a set of planting factors including: a charging level of the planting AUV 112; an operational condition of the planting AUV 112; a sediment bed characteristic of the restoration site 108; and a planting module installation status. In response to selecting the planting AUV 112, the deployment station 122 disengages the planting AUV 112 from a second docking location of the deployment station 122. Generally, the compute subsystem of the deployment station 122 can collect data from the planting AUVs currently docked on the deployment station 122 to select a planting AUV that exhibits a combination of the highest charging level of the planting AUVs available, an operational condition indicating the planting AUV 112 is available for use (e.g., not exhibiting damage that prevents the planting AUV 112 from executing any relevant step of the method), and includes a planting module (e.g., a seed depositing mechanism for the plant AUV) that can efficiently plant within the sediment bed exhibiting the sediment bed characteristic. For example, for a sediment bed featuring densely packed sediment, the compute subsystem can select a planting AUV exhibiting a plow mechanism 134 that can more effectively deposit the quantity of seagrass seeds into the compacted sediment than an injection mechanism 128.

[0107] In one implementation, for a system executing the Method SI 00 with a modular AUV including a planting module, deploying the planting AUV 112 to the restoration site 108 in Step SI 12 can include selecting a planting module from a set of planting modules based on a species of the quantity of seagrass seeds 106, and selecting a modular AUV from the set of modular AUVs based on the set of planting device factors. For example, for a species of seagrass with large seeds, the compute subsystem of the deployment station 122 can select a planting module sized to store, agitate, and deposit the large seeds. Alternatively, the compute subsystem canselect the planting module based on any other condition, including but not limited to a target planting depth for the seagrass seed, a target seed spacing, and / or a topography of the restoration site 108. The set of planting device factors for selecting the modular AUV can include: a charging level of the modular AUV; and an operational condition of the modular AUV. For example, the compute subsystem of the deployment station 122 can select a modular AUV with device factors including a high charging level (e.g., above 50% or a level of charge corresponding to ability for the AUV to travel to the restoration site 108 and back), an operational condition indicating a lack of damage to the AUV, and a modular attachment configured to receive the selected planting module. After selecting the planting module and the modular AUV, the compute subsystem executes the Method SI 00 to couple the planting module to the modular AUV and, in response to coupling the planting module to the modular AUV, disengages the second modular AUV from a second docking location of the deployment station 122. In response to coupling the planting module to the modular AUV, the compute subsystem can also upload or communicate navigation and / or planting instructions to the onboard computer of the modular AUV.

[0108] In one implementation, a single AUV in the set of AUVs can simultaneously operate multiple planting modules (e.g., multiple plow mechanisms or injection mechanisms as described below), thereby increasing the rate at which the quantity of seagrass seeds 106 can be deposited in the sediment bed within the restoration site 108. In another implementation, the AUV can follow a planting trajectory within the restoration site 108 while continuously (e.g., while moving) operating the depositing subsystem, further increasing the rate at which the quantity of seagrass seeds can be deposited into the sediment bed and the speed of this Step of the Method SI 00.

[0109] In one implementation, depositing the quantity of seagrass seeds 106 into the sediment bed of the restoration site 108 utilizing water as the transport medium in (via a planting AUV or a modular AUV including a planting module) Step SI 16 includes: transporting the quantity of seagrass seeds 106 from the storage and agitation tank (aboard the AUV) to a seed depositing mechanism of the AUV utilizing water as the transport mechanism; and depositing the quantity of seagrass seeds 106 into the sediment bed via the seed depositing mechanism. For example, at a docking location of the deployment station 122, the deployment station 122 executes the loading Step SI 10 to transfer the quantity of seagrass seeds from the biodegradation tank 124 or a storage tank of the deployment station 122 into a seed inlet of the AUV. The AUV pumps the quantity of seagrass seeds, using water from the body of water as a transport mechanism fromthe inlet and into a storage portion of the storage and agitation tank. Within the storage portion of the storage and agitation tank, fluid inlets pump water to move the quantity of seagrass seeds into an agitation zone of the storage and agitation tank, wherein fluid turbulence of the agitation zone caused by the fluid inlets meters a flow of the quantity of seagrass seeds through an outlet aperture of the storage and agitation tank. The AUV continues to pump water through the storage and agitation tank to expel the quantity of seagrass seeds from the outlet aperture and into a seed depositing mechanism (e.g., a plow or injection mechanism 128) to deposit the quantity of seagrass seeds into the sediment when the AUV reaches the restoration site 108. In one implementation, the AUV (a planting AUV or modular AUV with a planting module 112) pumps water in through the seed inlet to load the quantity of seagrass seeds into the storage and agitation tank while the AUV is within the docking location of the deployment station 122. Then, during transport to the restoration site 108, the AUV ceases pumping water to retain the quantity of seagrass seeds within the storage and agitation tank. Once reaching a target planting location of the restoration site 108, the AUV begins pumping water through the storage and agitation tank again to move the quantity of seagrass seeds into the seed depositing mechanism and into the sediment.

[0110] In one implementation, the seed depositing mechanism includes an injection mechanism 128 configured to actuate a seed outlet 138 into a layer of sediment, release a seed, and actuate out of the layer of sediment, thereby planting a seed within the sediment. More specifically, loading the quantity of seagrass seeds 106 into the planting AUV 112 (or a modular AUV including a planting module) can include transporting, utilizing water as the transport medium, the quantity of seagrass from the biodegradation tank 124 into an injection mechanism 128 of the AUV. Depositing the quantity of seagrass seeds 106 into a sediment bed of the restoration site 108 with the injection mechanism 128 includes: operating the AUV over the restoration site 108; via the planting AUV 112, actuating the injection mechanism 128 into a layer of the sediment bed; expelling, utilizing water as the transport medium, a seagrass seed of the quantity of seagrass seeds 106 out of an outlet of the injection mechanism 128 and into the layer of the sediment bed; and via the planting AUV 112, actuating the injection mechanism 128 out of the layer of the sediment bed. Execution of the planting phase of the Method SI 00 via an AUV with the injection mechanism 128 can additionally or alternatively include metering the quantity of seagrass seeds 106 through an outlet aperture of the storage and agitation tank into an injection mechanism 128 of the planting AUV 112.

[0111] In one implementation, the seed depositing mechanism includes a plow mechanism 134 configured to dig a furrow 158 into the sediment of the restoration site 108, expel one or more seeds of the quantity of seagrass seeds into the furrow 158, and cover the seagrass seeds with a layer of sediment. More specifically, loading the quantity of seagrass seeds 106 into the planting AUV 112 in Step SI 10 can include transporting, utilizing water as the transport medium, the quantity of seagrass from the biodegradation tank 124 into a plow mechanism 134 of the planting AUV 112. Depositing the quantity of seagrass seeds 106 into a sediment bed of the restoration site 108 in Step SI 16 can include operating the planting AUV 112 through the restoration site 108 to locate a leading edge 136 and a seed outlet 138 of the plow mechanism 134 beneath a layer of the sediment bed and a compactor plate of the plow mechanism 134 on a surface of the sediment bed. Via the leading edge 136, the plow mechanism 134 digs a furrow 158 into the sediment bed; then via the seed outlet 138, the plow mechanism 134 expels a seagrass seed of the quantity of seagrass seeds 106 into the furrow 158; and, via the compacting plate, plow mechanism 134 covers the seagrass seed with sediment to partially or fully fill in the furrow 158. The execution of the planting phase via a plow mechanism 134 can additionally or alternatively include metering the quantity of seagrass seeds 106 through an outlet aperture of the storage and agitation tank into a plow mechanism 134 of the planting AUV 112.7.5. Method Cycling

[0112] Generally, any set of the Steps of the Method SI 00 can be performed in any order, such as to harvest, isolate, or plant seagrass seeds. For example, upon deployment of the system 100 into the body of water, the deployment station can be pre-filled with a quantity of seagrass seeds. Therefore, the system 100 can execute Steps S 110, S 112, S 114, and SI 16 to plant the quantity of seagrass seeds without needing to execute Steps SI 02, SI 04, SI 06, and SI 08 to harvest and isolate the seeds.

[0113] Further, the Method SI 00 can be performed cyclically or have sets of the Steps repeated. In one implementation, the system 100 can gather a target quantity of seagrass seeds by repeating Steps SI 02, SI 04, and SI 06 until the biodegradation tank holds the target quantity of seeds. Upon receiving the target quantity of seeds, the system SI 00 can then repeatedly execute Steps S108, S110, S112, S114, and SI 16 to isolate the target quantity of seeds, deploy a harvesting AUV multiple times, or deploy multiple harvesting AUVs to deposit the target quantity of seeds at a restoration site. In another implementation, the system 100 can execute the Method SI 00 to harvest seagrass seeds from multiple harvesting sites and plant seagrass seeds in multiple restoration sites.8. Additional Considerations

[0114] The systems and methods described herein can be embodied and / or implemented at least in part as a machine configured to receive a computer-readable medium storing computer-readable instructions. The instructions can be executed by computer-executable components integrated with the application, applet, host, server, network, website, communication service, communication interface, hardware / firmware / software elements of a user computer or mobile device, wristband, smartphone, or any suitable combination thereof. Other systems and methods of the embodiment can be embodied and / or implemented at least in part as a machine configured to receive a computer-readable medium storing computer-readable instructions. The instructions can be executed by computer-executable components integrated by computer-executable components integrated with apparatuses and networks of the type described above. The computer-readable medium can be stored on any suitable computer readable media such as RAMs, ROMs, flash memory, EEPROMs, optical devices (CD or DVD), hard drives, floppy drives, or any suitable device. The computer-executable component can be a processor but any suitable dedicated hardware device can (alternatively or additionally) execute the instructions.

[0115] As a person skilled in the art will recognize from the previous detailed description and from the figures and claims, modifications and changes can be made to the embodiments of the invention without departing from the scope of this invention as defined in the following claims.

Claims

CLAIMSWe Claim:

1. A method for planting seagrass comprising:• deploying a harvesting AUV from a deployment station within a body of water to a harvesting site containing a meadow of seagrass within the body of water;• via the harvesting AUV, harvesting a quantity of seagrass seeds from the harvesting site;• via the harvesting AUV, depositing the quantity of seagrass seeds and accompanying biomass at a biodegradation tank of the deployment station;• via the deployment station, isolating the quantity of seagrass seeds from the accompanying biomass in the biodegradation tank;• via the deployment station, loading the quantity of seagrass seeds into a planting AUV;• deploying the planting AUV from the deployment station to a restoration site within the body of water;• via the planting AUV, metering the quantity of seagrass seeds into a seed depositing mechanism of the planting AUV; and• via the planting AUV, depositing, via the seed depositing mechanism, the quantity of seagrass seeds into a sediment bed of the restoration site utilizing water as a transport medium.

2. The method of Claim 1, wherein:• deploying the harvesting AUV to the harvesting site comprises: o selecting the harvesting AUV from a set of harvesting AUVs based on a set of harvesting factors comprising:■ a charging level of the harvesting AUV;■ an operational condition of the harvesting AUV;■ a species of the quantity of seagrass seeds; and■ a harvesting module installation status; and o in response to selecting the harvesting AUV, disengaging the harvesting AUV from a first docking location of the deployment station; and• deploying the planting AUV to the restoration site comprises: o selecting the planting AUV from a set of planting AUVs based on a set of planting factors comprising:■ a charging level of the planting AUV;■ an operational condition of the planting AUV;■ a sediment bed characteristic of the restoration site; and■ an planting module installation status; and o in response to selecting the planting AUV, disengaging the planting AUV from a second docking location of the deployment station.

3. The method of Claim 1, wherein metering the quantity of seagrass seeds comprises regulating a flow rate of the quantity of seagrass seeds into the seed depositing mechanism.

4. The method of Claim 3, wherein regulating a flow rate of the quantity of seagrass seeds comprises agitating a flow of the quantity of seagrass seeds to restrict the flow of the quantity of seagrass seeds into the seed depositing mechanism to a target flow rate corresponding to a target seed spacing.

5. The method of Claim 1, wherein:• deploying the harvesting AUV to the harvesting site comprises: o selecting a harvesting module from a set of harvesting modules based on a species of seagrass within the harvesting site; o selecting a first modular AUV from a set of modular AUVs based on a set of harvesting device factors comprising:■ a charging level of the first modular AUV; and■ an operational condition of the first modular AUV; o coupling the harvesting module to the first modular AUV; and o in response to coupling the harvesting module to the first modular AUV, disengaging the first modular AUV from a first docking location of the deployment station; and• deploying the planting AUV to the restoration site comprises: o selecting a planting module from a set of planting modules based on a species of the quantity of seagrass seeds; o selecting a second modular AUV from the set of modular AUVs based on a set of planting device factors comprising:■ a charging level of the second modular AUV; and■ an operational condition of the second modular AUV; o coupling the planting module to the second modular AUV; and o in response to coupling the planting module to the second modular AUV, disengaging the second modular AUV from a second docking location of the deployment station.

6. The method of Claim 1, further comprising:• from the deployment station, deploying a scanning AUV within the body of water;• collecting scanning data comprising at least one of: o a set of three-dimensional depth data corresponding to a set of location coordinates; o a set of color maps corresponding to the set of location coordinates; and o a set of texture maps corresponding to the set of location coordinates;• identifying a set of seagrass meadow regions within the body of water based on the scanning data;• for each seagrass meadow region in the set of seagrass meadow regions, estimating a seagrass seed density based on a seagrass seed model; and• defining the harvesting site based on: o the seagrass seed density of each seagrass meadow region in the set of seagrass meadow regions; and o a relative location of each seagrass meadow region in the set of seagrass meadow regions.

7. The method of Claim 1, wherein harvesting the quantity of seagrass seeds from the harvesting site comprises, via the harvesting AUV:• detaching the quantity of seagrass seeds from the meadow of seagrass within the harvesting site via a comb mechanism of the harvesting AUV characterized by a tooth spacing corresponding to a seed size of the meadow of seagrass; and• capturing the quantity of seagrass seeds and the accompanying biomass detached by the comb mechanism.

8. The method of Claim 1, wherein harvesting the quantity of seagrass seeds from the harvesting site comprises, via the harvesting AUV:• cutting the quantity of seagrass seeds from the meadow of seagrass within the harvesting site via a mower of the harvesting AUV; and• capturing the quantity of seagrass seeds and the accompanying biomass cut by the mower.

9. The method of Claim 1, wherein harvesting the quantity of seagrass seeds from the harvesting site comprises, via the harvesting AUV:• detaching the quantity of seagrass seeds from the meadow of seagrass within the harvesting site via an agitator of the harvesting AUV; and• capturing the quantity of seagrass seeds and the accompanying biomass detached by the agitator.

10. The method of Claim 1, wherein isolating the quantity of seagrass seeds from the biodegradation tank comprises:• agitating a volume of water within the biodegradation tank, causing the quantity of seagrass seeds to sink to within the biodegradation tank and a quantity of degraded biomass to collect above the quantity of seagrass seeds; and• removing the quantity of degraded biomass from the biodegradation tank via a sieve.

11. The method of Claim 1, wherein isolating the quantity of seagrass seeds from the biodegradation tank:• agitating a volume of water within the biodegradation tank, causing the quantity of seagrass seeds to sink to within the biodegradation tank and a quantity of degraded biomass to collect above the quantity of seagrass seeds; and• pumping water into the biodegradation, causing the quantity of degraded biomass to overflow from the biodegradation tank.

12. The method of Claim 1, wherein:• loading the quantity of seagrass seeds into the planting AUV comprises transporting, utilizing water as the transport medium, the quantity of seagrass from the biodegradation tank to a storage and agitation tank of the planting AUV;• metering the quantity of seagrass seeds into the seed depositing mechanism comprises metering the quantity of seagrass seeds through an outlet aperture of the storage andagitation tank into an injection mechanism of the planting AUV; and• depositing, via the seed depositing mechanism, the quantity of seagrass seeds into the sediment bed of the restoration site comprises: o operating the planting AUV over the restoration site; o via the planting AUV, actuating the injection mechanism into a layer of the sediment bed; o via the planting AUV, expelling a first seagrass seed of the quantity of seagrass seeds out of an outlet of the injection mechanism and into the layer of the sediment bed utilizing water as the transport medium; and o via the planting AUV, actuating the injection mechanism out of the layer of the sediment bed.

13. The method of Claim 1, wherein:• loading the quantity of seagrass seeds into the planting AUV comprises transporting, utilizing water as the transport medium, the quantity of seagrass from the biodegradation tank of the deployment station to a storage and agitation tank of the planting AUV;• metering the quantity of seagrass seeds into the seed depositing mechanism comprises metering the quantity of seagrass seeds through an outlet aperture of the storage and agitation tank into a plow mechanism of the planting AUV; and• depositing, via the seed depositing mechanism, the quantity of seagrass seeds into a sediment bed of the restoration site comprises: o operating the planting AUV through the restoration site to locate:■ a leading edge beneath a layer of the sediment bed;■ a seed outlet beneath a layer of the sediment bed; and■ a compactor plate of the plow mechanism on a surface of the sediment bed; o via the leading edge of the plow mechanism, plowing a furrow into the sediment bed; o via the seed outlet of the plow mechanism, expelling a first seagrass seed of the quantity of seagrass seeds into the furrow; and o via the compacting plate of the plow mechanism, covering the first seagrass seed of the quantity of seagrass seeds with sediment.

14. A method for planting seagrass comprising:• deploying a harvesting AUV to a harvesting site containing a meadow of seagrass within a body of water, the harvesting AUV configured to harvest a quantity of seagrass seeds;• harvesting the quantity of seagrass seeds from the harvesting site;• depositing, via the harvesting AUV, the quantity of seagrass seeds and accompanying biomass at a biodegradation tank of a deployment station on a surface of the body of water;• isolating the quantity of seagrass seeds from the accompanying biomass in the biodegradation tank;• loading the quantity of seagrass seeds into a planting AUV configured to plant the quantity of seagrass seeds;• deploying the planting AUV to a restoration site within the body of water; and• depositing, via the planting AUV, the quantity of seagrass seeds into a sediment bed of the restoration site, utilizing water as a transport medium.

15. The method of Claim 14, wherein:• deploying the harvesting AUV to the harvesting site comprises: o selecting the harvesting AUV from a set of harvesting AUVs based on a set of harvesting factors comprising:■ a charging level of the harvesting AUV;■ an operational condition of the harvesting AUV;■ a species of the quantity of seagrass seeds; and■ a harvesting module installation status; and o in response to selecting the harvesting AUV, disengaging the harvesting AUV from a first docking location of the deployment station; and• deploying the planting AUV to the restoration site comprises: o selecting the planting AUV from a set of planting AUVs based on a set of planting factors comprising:■ a charging level of the planting AUV;■ an operational condition of the planting AUV;■ a sediment bed characteristic of the restoration site; and■ a planting module corresponding to the sediment bed characteristic; ando in response to selecting the planting AUV, disengaging the planting AUV from a second docking location of the deployment station.

16. The method of Claim 14, wherein;• loading the quantity of seagrass seeds into the planting AUV comprises loading the quantity of seagrass seeds into a storage and agitation tank of the planting AUV; and• depositing the quantity of seagrass seeds into the sediment bed of the restoration site utilizing water as the transport medium further comprises: o transporting the quantity of seagrass seeds from the storage and agitation tank to a seed depositing mechanism of the planting AUV utilizing water as the transport mechanism; and o depositing the quantity of seagrass seeds into the sediment bed via the seed depositing mechanism.

17. The method of Claim 14:• deploying the harvesting AUV to the harvesting site comprises: o selecting a harvesting module from a set of harvesting modules based on a species of seagrass within the harvesting site; o selecting a first modular AUV from a set of modular AUVs based on a set of harvesting device factors comprising:■ a charging level of the first modular AUV; and■ an operational condition of the first modular AUV; o coupling the harvesting module to the first modular AUV; and o in response to coupling the harvesting module to the first modular AUV, disengaging the first modular AUV from a first docking location of the deployment station; and• deploying the planting AUV to the restoration site comprises: o selecting a planting module from a set of planting modules based on a species of the quantity of seagrass seeds; o selecting a second modular AUV from the set of modular AUVs based on a set of planting device factors comprising:■ a charging level of the second modular AUV; and■ an operational condition of the second modular AUV;o coupling the planting module to the second modular AUV; and o in response to coupling the planting module to the second modular AUV, disengaging the second modular AUV from a second docking location of the deployment station.

18. The method of Claim 14, further comprising:• from the deployment station, deploying a scanning AUV within the body of water;• collecting scanning data comprising at least one of: o a set of three-dimensional depth data corresponding to a set of location coordinates; o a set of color maps corresponding to the set of location coordinates; and o a set of texture maps corresponding to the set of location coordinates; and• identifying a set of seagrass meadow regions within the body of water based on the scanning data;• for each seagrass meadow region in the set of seagrass meadow regions, estimating a seagrass seed density based on a seagrass seed model; and• defining the harvesting site based on: o the seagrass seed density of each seagrass meadow region in the set of seagrass meadow regions; and o a relative location of each seagrass meadow region in the set of seagrass meadow regions.

19. The method of Claim 14, wherein harvesting the quantity of seagrass seeds from the harvesting site comprises:• detaching the quantity of seagrass seeds from the meadow of seagrass within the harvesting site via a comb mechanism of the harvesting AUV characterized by a tooth spacing corresponding to a seed size of the meadow of seagrass; and• capturing the quantity of seagrass seeds and the accompanying biomass detached by the comb mechanism.

20. The method of Claim 14, wherein harvesting the quantity of seagrass seeds from the harvesting site comprises:• cutting the quantity of seagrass seeds from the meadow of seagrass within the harvesting site via a mower of the harvesting AUV; and• capturing the quantity of seagrass seeds and the accompanying biomass cut by the mower.

21. The method of Claim 14, wherein harvesting the quantity of seagrass seeds from the harvesting site comprises:• detaching the quantity of seagrass seeds from the meadow of seagrass within the harvesting site via an agitator of the harvesting AUV; and• capturing the quantity of seagrass seeds and the accompanying biomass detached by the agitator.

22. The method of Claim 14, wherein isolating the quantity of seagrass seeds from the biodegradation tank comprises:• agitating a volume of water within the biodegradation tank, causing the quantity of seagrass seeds to sink to within the biodegradation tank and a quantity of degraded biomass to collect above the quantity of seagrass seeds; and• removing the quantity of degraded biomass from the biodegradation tank via a sieve.

23. The method of Claim 14, wherein isolating the quantity of seagrass seeds from the biodegradation tank:• agitating a volume of water within the biodegradation tank, causing the quantity of seagrass seeds to sink to within the biodegradation tank and a quantity of degraded biomass to collect above the quantity of seagrass seeds; and• pumping water into the biodegradation, causing the quantity of degraded biomass to overflow from the biodegradation tank.

24. The method of Claim 14, wherein:• loading the quantity of seagrass seeds into the planting AUV comprises transporting, utilizing water as the transport medium, the quantity of seagrass from the biodegradation tank into an injection mechanism of the planting AUV; and• depositing the quantity of seagrass seeds into a sediment bed of the restoration site comprises:o operating the planting AUV over the restoration site; o via the planting AUV, actuating the injection mechanism into a layer of the sediment bed; o expelling, utilizing water as the transport medium, a seagrass seed of the quantity of seagrass seeds out of an outlet of the injection mechanism and into the layer of the sediment bed; and o via the planting AUV, actuating the injection mechanism out of the layer of the sediment bed.

25. The method of Claim 14, wherein:• loading the quantity of seagrass seeds into the planting AUV comprises transporting, utilizing water as the transport medium, the quantity of seagrass from the biodegradation tank into a plow mechanism of the planting AUV; and• depositing the quantity of seagrass seeds into a sediment bed of the restoration site comprises: o operating the planting AUV through the restoration site to locate:■ a leading edge beneath a layer of the sediment bed;■ a seed outlet beneath a layer of the sediment bed; and■ a compactor plate of the plow mechanism on a surface of the sediment bed; o via the leading edge of the plow mechanism, plowing a furrow into the sediment bed; o via the seed outlet of the plow mechanism, expelling a seagrass seed of the quantity of seagrass seeds into the furrow; and o via the compacting plate of the plow mechanism, covering the seagrass seed of the quantity of seagrass seeds with sediment from the sediment bed.

26. A method for planting seagrass comprising:• via a harvesting AUV, harvesting a quantity of seagrass seeds at a harvesting site containing a meadow of seagrass within a body of water;• via the harvesting AUV, depositing the quantity of seagrass seeds and accompanying biomass at a biodegradation tank of a deployment station on a surface of the body of water;• at the deployment station, isolating the quantity of seagrass seeds from the accompanying biomass;• at the deployment station, loading the quantity of seagrass seeds into a planting AUV, the planting AUV configured to plant the quantity of seagrass seeds;• via the planting AUV, depositing the quantity of seagrass seeds into a sediment bed of a restoration site within the body of water utilizing water as a transport medium.

27. The method of Claim 26:• deploying the harvesting AUV to the harvesting site comprises: o selecting the harvesting AUV from a set of harvesting AUVs based on a set of harvesting factors comprising:■ a charging level of the harvesting AUV;■ an operational condition of the harvesting AUV;■ a species of the quantity of seagrass seeds; and■ a harvesting module installation status; and o in response to selecting the harvesting AUV, disengaging the harvesting AUV from a first docking location of the deployment station; and• deploying the planting AUV to the restoration site comprises: o selecting the planting AUV from a set of planting AUVs based on a set of planting factors comprising:■ a charging level of the planting AUV;■ an operational condition of the planting AUV;■ a sediment bed characteristic of the restoration site; and■ an planting module installation status; and o in response to selecting the planting AUV, disengaging the planting AUV from a second docking location of the deployment station.

28. The method of Claim 26, wherein harvesting the quantity of seagrass seeds from the harvesting site comprises, via the harvesting AUV:• detaching the quantity of seagrass seeds from the meadow of seagrass within the harvesting site via a comb mechanism of the harvesting AUV characterized by a tooth spacing corresponding to a seed size of the meadow of seagrass; and• capturing the quantity of seagrass seeds and the accompanying biomass detached by the comb mechanism.

29. The method of Claim 26, wherein harvesting the quantity of seagrass seeds from the harvesting site comprises, via the harvesting AUV:• cutting the quantity of seagrass seeds from the meadow of seagrass within the harvesting site via a mower of the harvesting AUV; and• capturing the quantity of seagrass seeds and the accompanying biomass cut by the mower.

30. The method of Claim 26, wherein isolating the quantity of seagrass seeds from the biodegradation tank comprises:• agitating a volume of water within the biodegradation tank, causing the quantity of seagrass seeds to sink to within the biodegradation tank and a quantity of degraded biomass to collect above the quantity of seagrass seeds; and• removing the quantity of degraded biomass from the biodegradation tank via a sieve.

31. The method of Claim 26, wherein isolating the quantity of seagrass seeds from the biodegradation tank:• agitating a volume of water within the biodegradation tank, causing the quantity of seagrass seeds to sink to within the biodegradation tank and a quantity of degraded biomass to collect above the quantity of seagrass seeds; and• pumping water into the biodegradation, causing the quantity of degraded biomass to overflow from the biodegradation tank.

32. The method of Claim 26, wherein:• loading the quantity of seagrass seeds into the planting AUV comprises transporting, utilizing water as the transport medium, the quantity of seagrass from the biodegradation tank into an injection mechanism of the planting AUV; and• depositing the quantity of seagrass seeds into a sediment bed of the restoration site comprises: o operating the planting AUV over the restoration site; o via the planting AUV, actuating the injection mechanism into a layer of thesediment bed; o expelling, utilizing water as the transport medium, a seagrass seed of the quantity of seagrass seeds out of an outlet of the injection mechanism and into the layer of the sediment bed; and o via the planting AUV, actuating the injection mechanism out of the layer of the sediment bed.

33. The method of Claim 26, wherein:• loading the quantity of seagrass seeds into the planting AUV comprises transporting, utilizing water as the transport medium, the quantity of seagrass from the biodegradation tank into a plow mechanism of the planting AUV; and• depositing the quantity of seagrass seeds into a sediment bed of the restoration site comprises: o operating the planting AUV through the restoration site to locate:■ a leading edge beneath a layer of the sediment bed;■ a seed outlet beneath a layer of the sediment bed; and■ a compactor plate of the plow mechanism on a surface of the sediment bed; o plowing, via the leading edge of the plow mechanism, a furrow into the sediment bed; o expelling, via the seed outlet of the plow mechanism, a seagrass seed of the quantity of seagrass seeds into the furrow; and o covering the seagrass seed of the quantity of seagrass seeds with sediment of the sediment bed, via the compacting plate of the plow mechanism.

34. A method for depositing a quantity of seagrass seeds into a sediment bed within a body of water comprising:• loading the quantity of seagrass seeds into a storage and agitation tank of an AUV, utilizing water as a transport medium;• metering the quantity of seagrass seeds through an outlet of the storage and agitation tank and into a seed depositing mechanism, utilizing water as the transport medium; and• depositing the quantity of seagrass seeds into the sediment bed within the body of water, utilizing water as the transport medium.

35. The method of Claim 34, wherein:• loading the quantity of seagrass seeds into the AUV comprises transporting, utilizing water as a transport medium, the quantity of seagrass into an injection mechanism of the AUV; and• depositing the quantity of seagrass seeds into the sediment bed comprises: o operating the AUV over the sediment bed; o via the AUV, actuating the injection mechanism into a layer of the sediment bed; o expelling, utilizing water as the transport medium, a seagrass seed of the quantity of seagrass seeds out of an outlet of the injection mechanism and into the layer of the sediment bed; and o via the AUV, actuating the injection mechanism out of the layer of the sediment bed.

36. The method of Claim 34, wherein:• loading the quantity of seagrass seeds into the AUV comprises transporting, utilizing water as a transport medium, the quantity of seagrass into a plow mechanism of the AUV; and• depositing the quantity of seagrass seeds into the sediment bed comprises: o operating the planting AUV through the restoration site to locate:■ a leading edge, a seed outlet, beneath a layer of the sediment bed; and■ a compactor plate of the plow mechanism on a surface of the sediment bed; o plowing, via the leading edge of the plow mechanism, a furrow into the sediment bed; o expelling, via the seed outlet of the plow mechanism, a seagrass seed of the quantity of seagrass seeds into the furrow; and o filling the furrow with sediment, via the compacting plate of the plow mechanism, to cover the seagrass seed.

37. The method of Claim 34, wherein metering the quantity of seagrass seeds comprises regulating a flow rate of the quantity of seagrass seeds into a seed depositing mechanism of the AUV.

8. The method of Claim 37, wherein regulating a flow rate of the quantity of seagrass seeds comprises agitating a flow of the quantity of seagrass seeds to restrict the flow of the quantity of seagrass seeds into the seed depositing mechanism to a target flow rate corresponding to a target seed spacing.

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