The MAELSTROM project aims to test and evaluate innovative technologies for the removal of marine litter in different coastal environments, also assessing their impact on the ecosystems in chosen demo sites and evaluating the economic and societal benefits of the MAELSTROM solutions within local economies. Treatments of the plastic litter for their recovery within a circular economy concept are also foreseen.The purpose of Deliverable D3.2 is to report on the control with shared autonomy of the Robotic Seabed Cleaning Platform, which is based on cable robotics.The following videos are attached to this deliverable (cf Section 7 for explanations about these videos):• https://seafile.lirmm.fr/f/0401ac21e6c74d32ac2b/• https://seafile.lirmm.fr/f/2feac9b169b844cfb41f/• https://seafile.lirmm.fr/f/6658db4e6ddf41feae6c/• https://seafile.lirmm.fr/f/41f9c230bc864aa2add5/Moreover, the videos of the cleaning campaign in Venice in 2022 are also related to this deliverable since the shared autonomy control of the Robotic Seabed Cleaning Platform described in the present document was improved and tested (see Section 7) during this campaign.https://youtu.be/1EVQm-0yyRYhttps://youtu.be/16k3-Bp4FCI