“…ROV's are categorised according to their shape and size, which makes them suitable for different diving depth ranges, flow conditions, or able to carry varying payloads (e.g., water quality sensors or velocity measurement devices). Despite being commonly used in maritime environments, the costs associated with this type of systems have decreased drastically over the last few years, including Doppler velocity log systems, sonar, or acoustic modems.These technologies allow operating in difficult environments and conditions such as strong currents or lack of visibility, enabling new applications such as monitoring in rivers or in lakes(Capocci et al, 2017;de Lima et al, 2020;Norgren, Ludvigsen, Ingebretsen, & Hovstein, 2016).The use of autonomous aquatic surface vessels for the collection of data and mapping is also gaining significance (e.g.,Caccia et al, 2007;Demetillo & Taboada, 2019;Ødegård, Sørensen, Hansen, & Ludvigsen, 2016;Wibowo, Destarianto, Riskiawan, Agustianto, & Kautsar, 2018). Using vehicles that are smaller than manned boats allow reaching shallow or narrow parts of the water bodies and collecting data more efficiently.…”