{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,4]],"date-time":"2026-06-04T15:59:32Z","timestamp":1780588772280,"version":"3.54.1"},"reference-count":26,"publisher":"MDPI AG","issue":"13","license":[{"start":{"date-parts":[[2022,7,5]],"date-time":"2022-07-05T00:00:00Z","timestamp":1656979200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Swedish Foundation for Strategic Research (SSF)","award":["dnr. 2020-04551"],"award-info":[{"award-number":["dnr. 2020-04551"]}]},{"name":"Vinnova project","award":["dnr. 2020-04551"],"award-info":[{"award-number":["dnr. 2020-04551"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>This paper outlines challenges and opportunities in operating underwater robots (so-called AUVs) on a seaweed farm. The need is driven by an emerging aquaculture industry on the Swedish west coast where large-scale seaweed farms are being developed. In this paper, the operational challenges are described and key technologies in using autonomous systems as a core part of the operation are developed and demonstrated. The paper presents a system and methods for operating an AUV in the seaweed farm, including initial localization of the farm based on a prior estimate and dead-reckoning navigation, and the subsequent scanning of the entire farm. Critical data from sidescan sonars for algorithm development are collected from real environments at a test site in the ocean, and the results are demonstrated in a simulated seaweed farm setup.<\/jats:p>","DOI":"10.3390\/s22135064","type":"journal-article","created":{"date-parts":[[2022,7,6]],"date-time":"2022-07-06T21:15:52Z","timestamp":1657142152000},"page":"5064","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":29,"title":["A System for Autonomous Seaweed Farm Inspection with an Underwater Robot"],"prefix":"10.3390","volume":"22","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-7542-3225","authenticated-orcid":false,"given":"Ivan","family":"Stenius","sequence":"first","affiliation":[{"name":"KTH\u2014Royal Institute of Technology, SCI School, 100 44 Stockholm, Sweden"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7796-1438","authenticated-orcid":false,"given":"John","family":"Folkesson","sequence":"additional","affiliation":[{"name":"KTH\u2014Royal Institute of Technology, EECS School, 100 44 Stockholm, Sweden"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5839-5573","authenticated-orcid":false,"given":"Sriharsha","family":"Bhat","sequence":"additional","affiliation":[{"name":"KTH\u2014Royal Institute of Technology, SCI School, 100 44 Stockholm, Sweden"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4943-2501","authenticated-orcid":false,"given":"Christopher Iliffe","family":"Sprague","sequence":"additional","affiliation":[{"name":"KTH\u2014Royal Institute of Technology, EECS School, 100 44 Stockholm, Sweden"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7687-3025","authenticated-orcid":false,"given":"Li","family":"Ling","sequence":"additional","affiliation":[{"name":"KTH\u2014Royal Institute of Technology, EECS School, 100 44 Stockholm, Sweden"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5656-0259","authenticated-orcid":false,"given":"\u00d6zer","family":"\u00d6zkahraman","sequence":"additional","affiliation":[{"name":"KTH\u2014Royal Institute of Technology, EECS School, 100 44 Stockholm, Sweden"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1189-6634","authenticated-orcid":false,"given":"Nils","family":"Bore","sequence":"additional","affiliation":[{"name":"KTH\u2014Royal Institute of Technology, EECS School, 100 44 Stockholm, Sweden"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0195-4880","authenticated-orcid":false,"given":"Zheng","family":"Cong","sequence":"additional","affiliation":[{"name":"KTH\u2014Royal Institute of Technology, EECS School, 100 44 Stockholm, Sweden"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Josefine","family":"Severholt","sequence":"additional","affiliation":[{"name":"KTH\u2014Royal Institute of Technology, SCI School, 100 44 Stockholm, Sweden"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6049-8475","authenticated-orcid":false,"given":"Carl","family":"Ljung","sequence":"additional","affiliation":[{"name":"KTH\u2014Royal Institute of Technology, SCI School, 100 44 Stockholm, Sweden"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Anna","family":"Arnwald","sequence":"additional","affiliation":[{"name":"KTH\u2014Royal Institute of Technology, SCI School, 100 44 Stockholm, Sweden"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8303-7826","authenticated-orcid":false,"given":"Ignacio","family":"Torroba","sequence":"additional","affiliation":[{"name":"KTH\u2014Royal Institute of Technology, EECS School, 100 44 Stockholm, Sweden"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5163-7963","authenticated-orcid":false,"given":"Fredrik","family":"Gr\u00f6ndahl","sequence":"additional","affiliation":[{"name":"KTH\u2014Royal Institute of Technology, ABE School, 100 44 Stockholm, Sweden"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0354-7189","authenticated-orcid":false,"given":"Jean-Baptiste","family":"Thomas","sequence":"additional","affiliation":[{"name":"KTH\u2014Royal Institute of Technology, ABE School, 100 44 Stockholm, Sweden"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2022,7,5]]},"reference":[{"key":"ref_1","unstructured":"Prospects, U. 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