ROVs have evolved from using topside analog circuitry with separate power lines for individual thrusters to vehicles that use digital telemetry by means of fiber optic networks. Despite these significant improvements in electrical and software architecture, vehicles continue to use joysticks, a rudimentary user interface, for their control. The Waterloo team focused on designing a unique vehicle capable of overcoming these control challenges. The Waterloo vehicle has been designed to be highly controllable and highly intuitive.