“…In the evolving field of AUVs, however, the more fundamental issues of power, propulsion, communications, and survival in a harsh environment have predominated (Dunn and Blidberg, 1989;Yongkuan, 1992). Although the issues of perception, scene reconstruction, and world modeling have also been addressed (e.g., Chantler and Reid, 1991;Rosenblum and Kamgar-Parsi, 1992;Cox and Leonard, 1994;Caccia et al 1995), much has been taken from terrestrial robotics, which does not consider the special problems of working underwater.…”