{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T09:59:28Z","timestamp":1777715968802,"version":"3.51.4"},"reference-count":42,"publisher":"SAGE Publications","issue":"6","license":[{"start":{"date-parts":[[2009,9,28]],"date-time":"2009-09-28T00:00:00Z","timestamp":1254096000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2010,5]]},"abstract":"<jats:p>In this paper, we describe the control, navigation, and mapping methods that were developed for a hovering autonomous underwater vehicle that explored flooded cenotes in Mexico. The cenotes of Sistema Zacat\u00f3n in Tamaulipas, Mexico are flooded sinkholes, exotic geological formations with unique water chemistry. The largest, Zacat\u00f3n, is over 300-m deep. None of the cenotes were mapped before the present DEPTHX project. The goals of the DEPTHX project were to construct metrically accurate three-dimensional maps of the cenotes, and to collect environmental data, imagery, water samples, and core samples. The unknown extent of the cenotes, together with the challenging scientific mission, spurred the development of a robotic vehicle that autonomously, with no communications to the surface, built accurate three-dimensional maps using sonar and collected a variety of scientific data, including core samples from the cenote walls. In this paper, we describe the design, implementation, and testing of the robot software, as well as the results from mapping four cenotes of Sistema Zacat\u00f3n.<\/jats:p>","DOI":"10.1177\/0278364909344779","type":"journal-article","created":{"date-parts":[[2009,9,28]],"date-time":"2009-09-28T20:18:30Z","timestamp":1254169110000},"page":"748-774","source":"Crossref","is-referenced-by-count":16,"title":["Autonomous Exploration and Mapping of Flooded Sinkholes"],"prefix":"10.1177","volume":"29","author":[{"given":"Nathaniel","family":"Fairfield","sequence":"first","affiliation":[{"name":"Carnegie Mellon University 5000 Forbes Ave Pittsburgh PA 15211 USA,"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"George","family":"Kantor","sequence":"additional","affiliation":[{"name":"Carnegie Mellon University 5000 Forbes Ave Pittsburgh PA 15211                         USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Dominic","family":"Jonak","sequence":"additional","affiliation":[{"name":"Carnegie Mellon University 5000 Forbes Ave Pittsburgh PA 15211                         USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"David","family":"Wettergreen","sequence":"additional","affiliation":[{"name":"Carnegie Mellon University 5000 Forbes Ave Pittsburgh PA 15211                         USA"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2009,9,28]]},"reference":[{"key":"atypb1","doi-asserted-by":"publisher","DOI":"10.1109\/78.978374"},{"key":"atypb2","volume-title":"Proceedings of the Australasian Conference on Robotics and Automation","author":"Bachmann, A."},{"key":"atypb3","doi-asserted-by":"publisher","DOI":"10.1145\/185009.185016"},{"key":"atypb4","volume-title":"IEEE Conference on Robotics Automation and Mechatronics","author":"Bradley, D."},{"key":"atypb5","doi-asserted-by":"publisher","DOI":"10.1147\/sj.41.0025"},{"key":"atypb6","doi-asserted-by":"publisher","DOI":"10.1177\/02783649922066385"},{"key":"atypb7","doi-asserted-by":"publisher","DOI":"10.1073\/pnas.98.3.801"},{"key":"atypb8","doi-asserted-by":"publisher","DOI":"10.1023\/A:1013958519734"},{"key":"atypb9","volume-title":"Implementation of the Pure Pursuit Path Tracking Algorithm","author":"Coulter, R.C.","year":"1992"},{"key":"atypb10","volume-title":"Proceedings of the Sixteenth Conference on Uncertainty in AI","author":"Doucet, A."},{"key":"atypb11","unstructured":"Eliazar, A. and Parr, R. 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