“…Major applications of marine robots include military (Ferri et al, 2017, 2018), environmental, and scientific missions (Leonard et al, 2010), as well as challenging tasks that arise in the oil industry and ocean mining (Birk et al, 2018; Camilli et al, 2010). In what concerns the latter application area, multistage seismic surveys employing AUVs for seafloor massive sulfide exploration were recently performed in Japan (Asakawa et al, 2018) and they share some similarities with this study. A number of survey articles (Bandyopadhyay, 2005; Rudnick, Davis, Eriksen, Fratantoni, & Perry, 2004; Yuh, 2000; Yuh, Marani, & Blidberg, 2011; Zereik, Bibuli, Miskovic, Ridao, & Pascoal, 2018) report the most common applications.…”