“…Table 1.1: Some SLAM publications using various platforms and sensors. 1 (Karlsson et al, 2008;Caballero et al, 2009;Bryson and Sukkarieh, 2009;Sukkarieh, 2009, 2008;Bryson and Sukkarieh, 2008), 2 (Wang and Dissanayake, 2012;Thrun and Montemerlo, 2006;Callmer et al, 2008), 3 (Davison et al, 2007;Davison, 2003;Eade, 2008;Klein and Murray, 2007), 4 (Callmer et al, 2011), 5 (Kim, 2013), 6 (Jung and Lacroix, 2003), 7 (Konolige and Agrawal, 2008Cummins andNewman, 2010), 8 (Lupton andSukkarieh, 2012;Karlsson and Bjärkefur, 2010;Strasdat et al, 2011;Taylor, 2001), 9 (Eustice et al, 2006;Mahon et al, 2008), 10 (Sjanic and, 11 (Marck et al;Gerossier et al, 2009), -(), 12 (Callmer et al, 2011;Mullane et al, 2010), 13 (Choi et al, 2005), -(), 14 (Wrobel, 2014), 15 (Newman et al, 2003;Ribas et al, 2006), 16 (Bryson et al, 2010), 17 , 18 (Lupton and Sukkarieh, 2012), 19 (Han and Kim, 2013), 20 Eustice, 2009), 21 (Fossel et al, 2013), 22 (Bosse and Zlot, 2008), 23 (Han and Kim, 2013). Paper A presents a method for localisation of underwater sensors equipped with triaxial magnetometers using a friendly vessel with known magnetic characteristics.…”