Adaptable Joystick Control System for Underwater Remotely Operated Vehicles**This work is supported by the Research Council of Norway, Statoil and FMC Technologies through the project Next Generation Subsea Inspection, Maintenance and Repair, 234108/E30. The work is associated with CoE AMOS, 223254.

Current commercial remotely operated vehicles (ROVs) used for inspection, maintenance and repair tasks of subsea petroleum facilities are operated with a low level of automation. Precise and efficient operation of the vehicles is hard, and the vehicle operators need extensive training to operate these efficiently. A properly designed automation system has the potential to lower the required skill and experience level for the operator, increase...