An autonomous underwater vehicle (AUV) is an underwater system that contains its ownpower and is controlled by an onboard computer. Although many names are given to thesevehicles, such as remotely operated vehicles (ROVs), unmanned underwater vehicles(UUVs), submersible devices, or remote controlled submarines, to name just a few, thefundamental task for these devices is fairly well defined: The vehicle is able to follow apredefined trajectory.AUVs offer many advantages for performing difficult tasks submerged in water. The mainadvantage of an AUV is that is does not need a human operator. Therefore it is lessexpensive than a human operated vehicle and is capable of doing operations that are toodangerous for a person. They operate in conditions and perform task that humans are notable to do efficiently, or at all (Smallwood & Whitcomb, 2004; Horgan & Toal, 2006; Caccia,2006).
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