Here's one of the prototypes they're working on at IS 93. You can clic on the picture for more details.
Notice the small wheels it has at the front that were giving as a headache and the camera at the back. Yes, it's a camera: it will broadcast as it runs a mission!
Do you see the arm that goes up? They'll use it to lift the submarine. This is the only mission they still don't have. What a great job!