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This work presents the implementation of an acoustic localization system that can work either with ranges or bearings. The algorithm is based on factor graphs and uses the information gathered from acoustic landmarks to estimate their position and the AUV pose without previous knowledge of their locations., Peer Reviewed

In addition to the potential global impact of climate change on marine ecosystems, the extensive use of high-impact fishing methods is a primary catalyst for benthic biodiversity degradation in the Mediterranean Sea. Implementing fishery no-take zones (FNTZs) emerges as a key measure for the sustainable recovery and management of overexploited stocks and habitats. To identify appropriate geographical scales for their implementation, it is crucial to understand the spatial connectivity of species and ecosystem functioning during long periods. Therefore, it is necessary to implement robust spatio-temporal multiparametric monitoring procedures, allowing the synchronous collection of biological (i.e., image-based), oceanographic and geochemical data. For this, we developed a spatial cooperative network of fixed (i.e., landers) and docked mobile (i.e., AUVs) platforms with wireless intercommunication capability (i.e., by acoustic modems). This system is designed for intelligent observation monitoring and mapping (i.e., AI-based recognition of species and bioturbation features) over extended periods with real-time, remote supervision and data transmission through the water column to an ASV., Peer Reviewed

This is an open access article under the terms of theCreative Commons Attribution‐NonCommercial‐NoDerivsLicense, The underwater domain is a challenging environment for robotics because widely used electromagnetic devices must be substituted by acoustic equivalents, much slower and noisier. In this paper a two-dimensional pose simultaneous localization and mapping (SLAM) system for an Autonomous Underwater Vehicle based on inertial sensors and a mechanical profiling sonar is presented. Two main systems are specially designed. On the one hand, a dead reckoning system based on Lie Theory is presented to track integrated pose uncertainty. On the other hand, a rigid scan matching technique specialized for acoustic data is proposed, which allows one to estimate the uncertainty of the matching result. Moreover, Bayesian–Gaussian mixtures models are introduced to the scan matching problem and the registration problem is solved by an optimization in Lie groups. The SLAM system is tested on real data and executed in real time with the robotic application. Using this system, section maps at constant depth can be obtained from a three-dimensional underwater domain. The presented SLAM system constitutes the first achievement towards an underwater Active SLAM application., CRUE‐CSIC; PLOME, Grant/Award Number:PLEC2021‐007525; Biter‐AUV,Grant/Award Number: PID2020‐114732RB‐C33; Spanish Government,Grant/Award Number: FPU19/03638, Peer Reviewed, Postprint (published version)

To improve our understanding of how marine ecosystems function, it is crucial to quantify their processes using proper spatio-temporal multiparametric monitoring techniques. Science and innovative technologies must play a central role in developing the Blue Growth in a sustainable manner, where advances in enabling technologies such as remote sensing, modelling, AI and autonomous systems, will enhance our capacity to monitor and predict, assess and manage ecosystems. The PLOME project proposes a spatially adaptive, non-invasive, modular platform of independent and wirelessly connected benthic stations and AUVs to intelligently observe, monitor and map marine ecosystems, during long-lasting periods with real-time supervision. The monitoring solution has a simple deployment and is easy-to-move from an experimental site to another, without any cable installation, for coastal and deep water environments. Stations provide continuous and intensive temporal observation, while AUVs can provide such intensive measurement at spatial level, when they undock for a mission from a station in which they previously recharged batteries and transmitted information. The PLOME project will demonstrate the proposed concept in two scenarios. The first one, involves testing independent capabilities in a real deep-sea scenario, while the second one entails a oneweek demonstration in shallow water, where an AUV will be operated from a docking station. This paper describes the Girona 1000 AUV from the Universitat de Girona that will be used for the deep tests , conducted at depths ranging from 200 to 400 meters. The AUV will be used in cooperation with two fixed stations developed by the Universitat Politècnica de Catalunya. Acoustic communications and ranges between the AUV and the stations will be used to coordinate the AUV’s work and to improve its navigation. Optical communications will be used to transmit data to the stations gathered from the AUV observations. The AUV will integrate a, Peer Reviewed

Deep-sea fishing has been carried out on an industrial scale since the 1950s, and this has had a variety of effects on the environment and its biota. Most benthic species experience a decline in abundance or a constant decline in abundance as a result of direct disturbance of the seafloor, such as its plowing and scraping by hauled nets, with overall impacts on regional biodiversity [1]. Sediment has lost some of its biogenic habitat complexity, and sessile epifauna-provided microhabitat has been destroyed or disrupted [2] and marine protected areas (MPAs) have been widely implemented to address this decline. Marine fish mobility, which is crucial for ecosystem function and is increasingly being researched with acoustic telemetry, has an impact on how well no-take MPAs (i.e., marine reserves) work in terms of protecting and repopulating fish populations [3], [4] Therefore, it is necessary to continuously monitor periodic changes in commercially exploited deep-sea ecosystems in order to gather baseline information, give accurate environmental impact assessments, and derive sound biological indicators for restoration. Using a fixed acoustic ultra-short baseline (USBL) receiver on benthic lander and miniature bidirectional acoustic tags [5], we address three key questions: How far can fish move? Does connectivity exist between adjacent MPAs? Does existing MPA size match the spatial scale of fish movements?, Peer Reviewed