Pi based, tether-free ROV

[pamoreno]

Hi, this is my first post; I am currently designing an ROV for a professor to be used in canal inspection. For this ROV, there are some strict constraints: max dimensions 12x12x15 cm max volume, less than 2 kg dry weight, and symmetric thruster configuration that must allow for surge, yaw, and sway motions to traverse the canal, must be able to withstand max depths of 3 meters.

The ROV is actually not intended to be an ROV at all; rather, it will ultimately become an autonomously driven vehicle to be paired with a drone that will transport the inspection bot to and from different canals. The bot, for my design, simply needs to be maneuverable for mechanics testing. For that reason, I can have a tether for communication on the bot. Really I am only concerned with funtionality, so I am impartial to what device I used for driving the bot as the final design will be autonomous (easier is better).

My question is, is this feasible to control a small rov with 4 brushless thrusters two pumps, a 3s lipo battery and a camera all with a single pi?

I have my motors and escs listed below but the main question is if a single pi can complete these tasks (with the help of small chips as necessary). If so are there any links to detailed projects that I can follow to control my sub design? Thanks in advance for any help!

Motor:
https://hobbyking.com/en_us/a20-50s-108 ... tore=en_us
ESC:
https://hobbyking.com/en_us/afro-esc-12 ... tore=en_us
Battery(11.1 V system is ideal, mAh subject to change):
https://hobbyking.com/en_us/turnigy-100 ... tore=en_us

[Moki]

My question is, is this feasible to control a small rov with 4 brushless thrusters two pumps, a 3s lipo battery and a camera all with a single pi?

It all depends, i think it can be done... but a raspberry pi, isn't realtime. I would suggest an Arduino for the realtime functions.