{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,24]],"date-time":"2026-06-24T18:23:30Z","timestamp":1782325410973,"version":"3.54.5"},"reference-count":52,"publisher":"Springer Science and Business Media LLC","issue":"2","license":[{"start":{"date-parts":[[2024,4,11]],"date-time":"2024-04-11T00:00:00Z","timestamp":1712793600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0"},{"start":{"date-parts":[[2024,4,11]],"date-time":"2024-04-11T00:00:00Z","timestamp":1712793600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0"}],"funder":[{"name":"BugWright2 EU H2020-Project","award":["871260"],"award-info":[{"award-number":["871260"]}]},{"name":"Centre of Excellence NTNU AMOS","award":["223254"],"award-info":[{"award-number":["223254"]}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["J Intell Robot Syst"],"abstract":"<jats:title>Abstract<\/jats:title><jats:p>Hull inspection is an important task to ensure sustainability of ships. To overcome the challenges of hull structure inspection in an underwater environment in an efficient way, an autonomous system for hull inspection has to be developed. In this paper, a new approach to underwater ship hull inspection is proposed. It aims at developing the basis for an end-to-end autonomous solution. The real-time aspect is an important part of this work, as it allows the operators and inspectors to receive feedback about the inspection as it happens. A reference mission plan is generated and adapted online based on the inspection findings. This is done through the processing of a multibeam forward looking sonar to estimate the pose of the hull relative to the drone. An inspection map is incrementally built in a novel way, incorporating uncertainty estimates to better represent the inspection state, quality, and observation confidence. The proposed methods are experimentally tested in real-time on real ships and demonstrate the applicability to quickly understand what has been done during the inspection.<\/jats:p>","DOI":"10.1007\/s10846-024-02095-2","type":"journal-article","created":{"date-parts":[[2024,4,11]],"date-time":"2024-04-11T14:01:48Z","timestamp":1712844108000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":14,"title":["ROV-Based Autonomous Maneuvering for Ship Hull Inspection with Coverage Monitoring"],"prefix":"10.1007","volume":"110","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-1918-4893","authenticated-orcid":false,"given":"Alexandre","family":"Cardaillac","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Roger","family":"Skjetne","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Martin","family":"Ludvigsen","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"297","published-online":{"date-parts":[[2024,4,11]]},"reference":[{"issue":"3061","key":"2095_CR1","doi-asserted-by":"publisher","first-page":"257","DOI":"10.1126\/science.118.3061.257.a","volume":"118","author":"JW Hedgpeth","year":"1953","unstructured":"Hedgpeth, J.W.: Marine fouling and its prevention. Science 118(3061), 257\u2013257 (1953). https:\/\/doi.org\/10.1126\/science.118.3061.257.a","journal-title":"Science"},{"key":"2095_CR2","unstructured":"Boon, B., Brennan, F., Garbatov, Y., Ji, C., Parunov, J., Rahman, T., Rizzo, C., Rouhan, A., Shin, C., Yamamoto, N.: Condition assessment of aged ships and offshore structures. In: International Ship and Offshore Structures Congress, 2, 313\u2013365 (2009)"},{"issue":"5","key":"2095_CR3","doi-asserted-by":"publisher","first-page":"37","DOI":"10.1111\/j.1559-3584.1993.tb02755.x","volume":"105","author":"J Mittleman","year":"1993","unstructured":"Mittleman, J., Swan, L.: Underwater inspection for welding and overhaul. Naval Eng. J. 105(5), 37\u201342 (1993). https:\/\/doi.org\/10.1111\/j.1559-3584.1993.tb02755.x","journal-title":"Naval Eng. J."},{"key":"2095_CR4","doi-asserted-by":"publisher","unstructured":"Lynn, D.C., Bohlander, G.S.: Performing ship hull inspections using a remotely operated vehicle. In: Oceans \u201999. MTS\/IEEE. Riding the Crest Into the 21st Century. Conference and Exhibition. Conference Proceedings (IEEE Cat. No.99CH37008), 2, pp. 555\u20135622 (1999). https:\/\/doi.org\/10.1109\/OCEANS.1999.804763","DOI":"10.1109\/OCEANS.1999.804763"},{"key":"2095_CR5","doi-asserted-by":"publisher","unstructured":"Vaganay, J., Elkins, M.L., Willcox, S., Hover, F.S., Damus, R.S., Desset, S., Morash, J.P., Polidoro, V.C.: Ship hull inspection by hull-relative navigation and control. In: Proceedings of OCEANS 2005 MTS\/IEEE, pp. 761\u20137661 (2005). https:\/\/doi.org\/10.1109\/OCEANS.2005.1639844","DOI":"10.1109\/OCEANS.2005.1639844"},{"key":"2095_CR6","unstructured":"Kaess, M., Johannsson, H., Englot, B., Hover, F.S., Leonard, J.J.: Towards autonomous ship hull inspection using the bluefin hauv. In: 9th International Symposium on Technology and the Mine Problem. Conference Proceedings, pp. 1\u201310 (2010)"},{"issue":"12","key":"2095_CR7","doi-asserted-by":"publisher","first-page":"1445","DOI":"10.1177\/0278364912461059","volume":"31","author":"FS Hover","year":"2012","unstructured":"Hover, F.S., Eustice, R.M., Kim, A., Englot, B., Johannsson, H., Kaess, M., Leonard, J.J.: Advanced perception, navigation and planning for autonomous in-water ship hull inspection. Int. J. Robotics Res. 31(12), 1445\u20131464 (2012). https:\/\/doi.org\/10.1177\/0278364912461059","journal-title":"Int. J. Robotics Res."},{"issue":"3","key":"2095_CR8","doi-asserted-by":"publisher","first-page":"531","DOI":"10.1002\/rob.21841","volume":"36","author":"S Hong","year":"2019","unstructured":"Hong, S., Chung, D., Kim, J., Kim, Y., Kim, A., Yoon, H.K.: In-water visual ship hull inspection using a hover-capable underwater vehicle with stereo vision. J Field Robotics 36(3), 531\u2013546 (2019). https:\/\/doi.org\/10.1002\/rob.21841","journal-title":"J Field Robotics"},{"key":"2095_CR9","doi-asserted-by":"publisher","unstructured":"Kazmi, W., Ridao, P., Ribas, D., Hernandez, E.: Dam wall detection and tracking using a mechanically scanned imaging sonar. In: 2009 IEEE International Conference on Robotics and Automation, pp. 3595\u20133600 (2009). https:\/\/doi.org\/10.1109\/ROBOT.2009.5152691","DOI":"10.1109\/ROBOT.2009.5152691"},{"issue":"6","key":"2095_CR10","doi-asserted-by":"publisher","first-page":"381","DOI":"10.1145\/358669.358692","volume":"24","author":"MA Fischler","year":"1981","unstructured":"Fischler, M.A., Bolles, R.C.: Random sample consensus: A paradigm for model fitting with applications to image analysis and automated cartography. Commun. ACM 24(6), 381\u2013395 (1981). https:\/\/doi.org\/10.1145\/358669.358692","journal-title":"Commun. ACM"},{"key":"2095_CR11","doi-asserted-by":"publisher","unstructured":"Karras, G.C., Bechlioulis, C.P., Abdella, H.K., Larkworthy, T., Kyriakopoulos, K., Lane D.: A robust sonar servo control scheme for wall-following using an autonomous underwater vehicle. In: 2013 IEEE\/RSJ International Conference on Intelligent Robots and Systems, pp. 3893\u20133898 (2013). https:\/\/doi.org\/10.1109\/IROS.2013.6696913","DOI":"10.1109\/IROS.2013.6696913"},{"key":"2095_CR12","doi-asserted-by":"publisher","unstructured":"Wang, X., Zhang, G., Sun, Y., Wan, L., Cao, J.: Research on autonomous underwater vehicle wall following based on reinforcement learning and multi-sonar weighted round robin mode. Int. J. Adv. Robotic Syst. 17(3) (2020). https:\/\/doi.org\/10.1177\/1729881420925311","DOI":"10.1177\/1729881420925311"},{"key":"2095_CR13","doi-asserted-by":"publisher","unstructured":"Fossen T.: Handbook of Marine Craft Hydrodynamics and Motion Control, pp. 331\u2013387. John Wiley & Sons, Ltd (2011). Chap. 12. https:\/\/doi.org\/10.1002\/9781119994138","DOI":"10.1002\/9781119994138"},{"issue":"1","key":"2095_CR14","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1109\/JOE.2021.3105285","volume":"47","author":"HB Amundsen","year":"2022","unstructured":"Amundsen, H.B., Caharija, W., Pettersen, K.Y.: Autonomous rov inspections of aquaculture net pens using dvl. IEEE J. Oceanic Eng. 47(1), 1\u201319 (2022). https:\/\/doi.org\/10.1109\/JOE.2021.3105285","journal-title":"IEEE J. Oceanic Eng."},{"key":"2095_CR15","doi-asserted-by":"publisher","unstructured":"Arnesen, B.O., Lekkas, A.M., Schj\u00f8lberg I.: 3D Path Following and Tracking for an Inspection Class ROV. International Conference on Offshore Mechanics and Arctic Engineering, vol. Volume 7A: Ocean Engineering, pp. 07\u201306019 (2017). https:\/\/doi.org\/10.1115\/OMAE2017-61170","DOI":"10.1115\/OMAE2017-61170"},{"key":"2095_CR16","doi-asserted-by":"publisher","unstructured":"Galceran, E., Palomeras, N., Carreras, M.: Profile following for inspection of underwater structures. Paladyn, J. Behavioral Robotics 4(4), 211\u2013222 (2013) https:\/\/doi.org\/10.2478\/pjbr-2013-0019","DOI":"10.2478\/pjbr-2013-0019"},{"key":"2095_CR17","doi-asserted-by":"publisher","unstructured":"Nguyen, V.S., Trinh, T.H., Tran, M.H.: Hole boundary detection of a surface of 3d point clouds. In: 2015 International Conference on Advanced Computing and Applications (ACOMP), pp. 124\u2013129 (2015). https:\/\/doi.org\/10.1109\/ACOMP.2015.12","DOI":"10.1109\/ACOMP.2015.12"},{"key":"2095_CR18","doi-asserted-by":"publisher","unstructured":"Nguyen, V.-S., Bac, A., Daniel, M.: Boundary extraction and simplification of a surface defined by a sparse 3d volume. In: Proceedings of the Third Symposium on Information and Communication Technology. SoICT \u201912, pp. 115\u2013124. Association for Computing Machinery, New York, NY, USA (2012). https:\/\/doi.org\/10.1145\/2350716.2350735","DOI":"10.1145\/2350716.2350735"},{"issue":"2","key":"2095_CR19","doi-asserted-by":"publisher","first-page":"39","DOI":"10.1364\/JOSAA.36.000A39","volume":"36","author":"S Gai","year":"2019","unstructured":"Gai, S., Da, F., Zeng, L., Huang, Y.: Research on a hole filling algorithm of a point cloud based on structure from motion. J. Opt. Soc. Am. A 36(2), 39\u201346 (2019). https:\/\/doi.org\/10.1364\/JOSAA.36.000A39","journal-title":"J. Opt. Soc. Am. A"},{"key":"2095_CR20","doi-asserted-by":"publisher","unstructured":"Fiolka, T., Rouatbi, F., Bender, D.: Automated Detection and Closing of Holes in Aerial Point Clouds Using AN Uas. ISPRS - International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences 42W6, 101\u2013107 (2017) https:\/\/doi.org\/10.5194\/isprs-archives-XLII-2-W6-101-2017","DOI":"10.5194\/isprs-archives-XLII-2-W6-101-2017"},{"key":"2095_CR21","doi-asserted-by":"publisher","unstructured":"Cardaillac, A., Ludvigsen, M.: Ruled path planning framework for safe and dynamic navigation. In: OCEANS 2021: San Diego - Porto, pp. 1\u20137 (2021). https:\/\/doi.org\/10.23919\/OCEANS44145.2021.9705699","DOI":"10.23919\/OCEANS44145.2021.9705699"},{"key":"2095_CR22","doi-asserted-by":"publisher","unstructured":"Scheiber, M., Cardaillac, A., Brommer, C., Weiss, S., Ludvigsen, M.: Modular multi-sensor fusion for underwater localization for autonomous rov operations. In: OCEANS 2022, Hampton Roads, pp. 1\u20135 (2022). https:\/\/doi.org\/10.1109\/OCEANS47191.2022.9977298","DOI":"10.1109\/OCEANS47191.2022.9977298"},{"key":"2095_CR23","doi-asserted-by":"publisher","unstructured":"Cardaillac, A., Ludvigsen, M.: Path following for underwater inspection allowing manoeuvring constraints. In: Petrovic I., Menegatti, E., Markovi\u0107, I. (eds.) Intelligent Autonomous Systems 17, pp. 867\u2013880. Springer, Cham (2023). https:\/\/doi.org\/10.1007\/978-3-031-22216-0_58","DOI":"10.1007\/978-3-031-22216-0_58"},{"issue":"2","key":"2095_CR24","doi-asserted-by":"publisher","first-page":"246","DOI":"10.1007\/s41315-021-00215-x","volume":"6","author":"F Maurelli","year":"2022","unstructured":"Maurelli, F., Krupi\u0144ski, S., Xiang, X., Petillot, Y.: Auv localisation: a review of passive and active techniques. Int. J. Intell. Robotics Appl. 6(2), 246\u2013269 (2022). https:\/\/doi.org\/10.1007\/s41315-021-00215-x","journal-title":"Int. J. Intell. Robotics Appl."},{"key":"2095_CR25","doi-asserted-by":"publisher","first-page":"1256","DOI":"10.3390\/app10041256","volume":"10","author":"A G\u00f3mez-Espinosa","year":"2020","unstructured":"G\u00f3mez-Espinosa, A., Cuan-Urquizo, E., Gonz\u00e1lez-Garc\u00eda, J.: Autonomous underwater vehicles: Localization, navigation, and communication for collaborative missions. Appl. Sci. 10, 1256 (2020). https:\/\/doi.org\/10.3390\/app10041256","journal-title":"Appl. Sci."},{"issue":"2","key":"2095_CR26","doi-asserted-by":"publisher","first-page":"359","DOI":"10.1109\/LRA.2020.3043195","volume":"6","author":"C Brommer","year":"2021","unstructured":"Brommer, C., Jung, R., Steinbrener, J., Weiss, S.: Mars: A modular and robust sensor-fusion framework. IEEE Robotics Automation Lett. 6(2), 359\u2013366 (2021). https:\/\/doi.org\/10.1109\/LRA.2020.3043195","journal-title":"IEEE Robotics Automation Lett."},{"key":"2095_CR27","unstructured":"LaValle, S.M.: Rapidly-exploring random trees: a new tool for path planning. Technical report, Computer Science Dept, Iowa State University (1998)"},{"issue":"1","key":"2095_CR28","doi-asserted-by":"publisher","first-page":"269","DOI":"10.1007\/BF01386390","volume":"1","author":"EW Dijkstra","year":"1959","unstructured":"Dijkstra, E.W.: A note on two problems in connexion with graphs. Numer. Math. 1(1), 269\u2013271 (1959). https:\/\/doi.org\/10.1007\/BF01386390","journal-title":"Numer. Math."},{"issue":"3","key":"2095_CR29","doi-asserted-by":"publisher","first-page":"354","DOI":"10.1109\/TRO.2004.838026","volume":"21","author":"S Koenig","year":"2005","unstructured":"Koenig, S., Likhachev, M.: Fast replanning for navigation in unknown terrain. IEEE Trans. Robotics 21(3), 354\u2013363 (2005). https:\/\/doi.org\/10.1109\/TRO.2004.838026","journal-title":"IEEE Trans. Robotics"},{"key":"2095_CR30","doi-asserted-by":"publisher","unstructured":"Nguyen, V., Martinelli, A., Tomatis, N., Siegwart, R.: A comparison of line extraction algorithms using 2d laser rangefinder for indoor mobile robotics. In: 2005 IEEE\/RSJ International Conference on Intelligent Robots and Systems, pp. 1929\u20131934 (2005). https:\/\/doi.org\/10.1109\/IROS.2005.1545234","DOI":"10.1109\/IROS.2005.1545234"},{"key":"2095_CR31","doi-asserted-by":"publisher","unstructured":"Canny, J.: A computational approach to edge detection. IEEE Trans. Pattern Anal. Machine Intell. PAMI-8(6), 679\u2013698 (1986) https:\/\/doi.org\/10.1109\/TPAMI.1986.4767851","DOI":"10.1109\/TPAMI.1986.4767851"},{"key":"2095_CR32","doi-asserted-by":"publisher","unstructured":"Davies, E.R.: Chapter 1 - the dramatically changing face of computer vision. In: Davies E.R., Turk M.A. (eds.) Advanced Methods and Deep Learning in Computer Vision. Computer Vision and Pattern Recognition, pp. 1\u201391. Academic Press, UK (2022). https:\/\/doi.org\/10.1016\/B978-0-12-822109-9.00010-2","DOI":"10.1016\/B978-0-12-822109-9.00010-2"},{"key":"2095_CR33","doi-asserted-by":"publisher","unstructured":"Breivik, M., Fossen, T.I.: Principles of guidance-based path following in 2d and 3d. In: Proceedings of the 44th IEEE Conference on Decision and Control, pp. 627\u2013634 (2005). https:\/\/doi.org\/10.1109\/CDC.2005.1582226","DOI":"10.1109\/CDC.2005.1582226"},{"key":"2095_CR34","doi-asserted-by":"publisher","unstructured":"Breivik, M., Fossen, T.I.: Guidance laws for autonomous underwater vehicles. In: Inzartsev A.V. (ed.) Underwater Vehicles, pp. 51\u201376. IntechOpen, Rijeka (2009). Chap. 4. https:\/\/doi.org\/10.5772\/6696","DOI":"10.5772\/6696"},{"key":"2095_CR35","doi-asserted-by":"publisher","unstructured":"Lekkas, A.M., Fossen, T.I.: A time-varying lookahead distance guidance law for path following. IFAC Proceedings Volumes, 9th IFAC Conference on Manoeuvring and Control of Marine Craft. 45(27), 398\u2013403 (2012) https:\/\/doi.org\/10.3182\/20120919-3-IT-2046.00068","DOI":"10.3182\/20120919-3-IT-2046.00068"},{"issue":"6","key":"2095_CR36","doi-asserted-by":"publisher","first-page":"2287","DOI":"10.1109\/TCST.2014.2306774","volume":"22","author":"AM Lekkas","year":"2014","unstructured":"Lekkas, A.M., Fossen, T.I.: Integral los path following for curved paths based on a monotone cubic hermite spline parametrization. IEEE Trans. Control Syst. Technol. 22(6), 2287\u20132301 (2014). https:\/\/doi.org\/10.1109\/TCST.2014.2306774","journal-title":"IEEE Trans. Control Syst. Technol."},{"key":"2095_CR37","unstructured":"Skjetne, R.: The maneuvering problem. PhD thesis, Norwegian University of Science and Technology (NTNU), Trondheim, Norway (2005)"},{"key":"2095_CR38","doi-asserted-by":"publisher","unstructured":"Hauser, J., Hindman, R.: Maneuver regulation from trajectory tracking: Feedback linearizable systems*. IFAC Proceedings Volumes, 3rd IFAC Symposium on Nonlinear Control\u00a0Systems Design 1995, Tahoe City, CA, USA, 25-28 June 1995. 28(14), 595\u2013600 (1995). https:\/\/doi.org\/10.1016\/S1474-6670(17)46893-5","DOI":"10.1016\/S1474-6670(17)46893-5"},{"key":"2095_CR39","doi-asserted-by":"publisher","first-page":"193813","DOI":"10.1109\/ACCESS.2020.3033409","volume":"8","author":"MEN S\u00f8rensen","year":"2020","unstructured":"S\u00f8rensen, M.E.N., Breivik, M., Skjetne, R.: Comparing combinations of linear and nonlinear feedback terms for ship motion control. IEEE Access 8, 193813\u2013193826 (2020). https:\/\/doi.org\/10.1109\/ACCESS.2020.3033409","journal-title":"IEEE Access"},{"key":"2095_CR40","unstructured":"Breivik, M., Strand, J., Fossen, T.: Guided dynamic positioning for fully actuated marine surface vessels. In: 7th IFAC Conference on Manoeuvring and Control of Marine Craft, pp. 1\u20136 (2006)"},{"key":"2095_CR41","doi-asserted-by":"publisher","unstructured":"Dia, R., Mottin, J., Rakotovao, T., Puschini, D., Lesecq, S.: Evaluation of occupancy grid resolution through a novel approach for inverse sensor modeling. IFAC-PapersOnLine, 20th IFAC World Congress. 50(1), 13841\u201313847 (2017) https:\/\/doi.org\/10.1016\/j.ifacol.2017.08.2225","DOI":"10.1016\/j.ifacol.2017.08.2225"},{"key":"2095_CR42","doi-asserted-by":"publisher","unstructured":"Cheng, C., Wang, C., Yang, D., Liu, W., Zhang, F.: Underwater localization and mapping based on multi-beam forward looking sonar. Frontiers in Neurorobotics 15 (2022). https:\/\/doi.org\/10.3389\/fnbot.2021.801956","DOI":"10.3389\/fnbot.2021.801956"},{"issue":"14","key":"2095_CR43","doi-asserted-by":"publisher","first-page":"2240","DOI":"10.1016\/j.spl.2008.01.094","volume":"78","author":"D Paindaveine","year":"2008","unstructured":"Paindaveine, D.: A canonical definition of shape. Stat. & Probability Lett. 78(14), 2240\u20132247 (2008). https:\/\/doi.org\/10.1016\/j.spl.2008.01.094","journal-title":"Stat. & Probability Lett."},{"issue":"1","key":"2095_CR44","doi-asserted-by":"publisher","first-page":"234","DOI":"10.1214\/aos\/1176350263","volume":"15","author":"DE Tyler","year":"1987","unstructured":"Tyler, D.E.: A Distribution-Free $$M$$-Estimator of Multivariate Scatter. Ann. Stat. 15(1), 234\u2013251 (1987). https:\/\/doi.org\/10.1214\/aos\/1176350263","journal-title":"Ann. Stat."},{"issue":"3","key":"2095_CR45","doi-asserted-by":"publisher","first-page":"471","DOI":"10.1023\/A:1003573311481","volume":"50","author":"L D\u00fcmbgen","year":"1998","unstructured":"D\u00fcmbgen, L.: On tyler\u2019s m-functional of scatter in high dimension. Ann. Institute Stat. Math. 50(3), 471\u2013491 (1998). https:\/\/doi.org\/10.1023\/A:1003573311481","journal-title":"Ann. Institute Stat. Math."},{"key":"2095_CR46","doi-asserted-by":"publisher","unstructured":"Cardaillac, A., Amundsen, H.B., Kelasidi, E., Ludvigsen, M.: Application of maneuvering based control for autonomous inspection of aquaculture net pens. In: 2023 8th Asia-Pacific Conference on Intelligent Robot Systems (ACIRS), pp. 44\u201351 (2023). https:\/\/doi.org\/10.1109\/ACIRS58671.2023.10239708","DOI":"10.1109\/ACIRS58671.2023.10239708"},{"issue":"3","key":"2095_CR47","doi-asserted-by":"publisher","first-page":"719","DOI":"10.1109\/TRO.2012.2235699","volume":"29","author":"A Kim","year":"2013","unstructured":"Kim, A., Eustice, R.M.: Real-time visual slam for autonomous underwater hull inspection using visual saliency. IEEE Trans. Robotics 29(3), 719\u2013733 (2013). https:\/\/doi.org\/10.1109\/TRO.2012.2235699","journal-title":"IEEE Trans. Robotics"},{"key":"2095_CR48","doi-asserted-by":"publisher","unstructured":"Cardaillac, A., Ludvigsen, M.: A communication interface for multilayer cloud computing architecture for low cost underwater vehicles*. IFAC-PapersOnLine, 11th IFAC Symposium on Intelligent Autonomous Vehicles IAV 2022. 55(14), 77\u201382 (2022). https:\/\/doi.org\/10.1016\/j.ifacol.2022.07.586","DOI":"10.1016\/j.ifacol.2022.07.586"},{"key":"2095_CR49","doi-asserted-by":"publisher","unstructured":"Waszak, M., Cardaillac, A., Elves\u00e6ter, B., R\u00f8d\u00f8len, F., Ludvigsen, M.: Semantic segmentation in underwater ship inspections: Benchmark and data set. IEEE J. Oceanic Eng. 1\u201312 (2022) https:\/\/doi.org\/10.1109\/JOE.2022.3219129","DOI":"10.1109\/JOE.2022.3219129"},{"key":"2095_CR50","doi-asserted-by":"publisher","first-page":"123070","DOI":"10.1109\/ACCESS.2023.3329834","volume":"11","author":"A Cardaillac","year":"2023","unstructured":"Cardaillac, A., Ludvigsen, M.: Camera-sonar combination for improved underwater localization and mapping. IEEE Access 11, 123070\u2013123079 (2023). https:\/\/doi.org\/10.1109\/ACCESS.2023.3329834","journal-title":"IEEE Access"},{"key":"2095_CR51","doi-asserted-by":"publisher","unstructured":"Lu, W., Cheng, K., Hu, M.: Reinforcement learning for autonomous underwater vehicles via data-informed domain randomization. Appl. Sci. 13(3) (2023). https:\/\/doi.org\/10.3390\/app13031723","DOI":"10.3390\/app13031723"},{"key":"2095_CR52","doi-asserted-by":"publisher","DOI":"10.1016\/j.apor.2022.103326","volume":"129","author":"B Hadi","year":"2022","unstructured":"Hadi, B., Khosravi, A., Sarhadi, P.: Deep reinforcement learning for adaptive path planning and control of an autonomous underwater vehicle. Appl. Ocean Res. 129, 103326 (2022). https:\/\/doi.org\/10.1016\/j.apor.2022.103326","journal-title":"Appl. Ocean Res."}],"container-title":["Journal of Intelligent &amp; Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-024-02095-2.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s10846-024-02095-2\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-024-02095-2.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,7,18]],"date-time":"2024-07-18T10:12:29Z","timestamp":1721297549000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s10846-024-02095-2"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2024,4,11]]},"references-count":52,"journal-issue":{"issue":"2","published-online":{"date-parts":[[2024,6]]}},"alternative-id":["2095"],"URL":"https:\/\/doi.org\/10.1007\/s10846-024-02095-2","relation":{},"ISSN":["1573-0409"],"issn-type":[{"value":"1573-0409","type":"electronic"}],"subject":[],"published":{"date-parts":[[2024,4,11]]},"assertion":[{"value":"4 August 2023","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"28 March 2024","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"11 April 2024","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"The authors have no conflict of interest to declare.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Conflicts of interest"}},{"value":"Not applicable.","order":3,"name":"Ethics","group":{"name":"EthicsHeading","label":"Ethics approval"}},{"value":"Not applicable.","order":4,"name":"Ethics","group":{"name":"EthicsHeading","label":"Consent to participate"}},{"value":"Not applicable.","order":5,"name":"Ethics","group":{"name":"EthicsHeading","label":"Consent for publication"}}],"article-number":"59"}}