This paper documents the development of an underwater robot system enabled with several mapping and localization techniques applied to a particular archaeological expedition. The goal of the expedition was to explore and map ancient cisterns located on the islands of Malta and Gozo. The cisterns of interest acted as water storage systems for fortresses, private homes, and churches. Such cisterns often consisted of several connected chambers, still containing water. A sonar-equipped remotely operated vehicle (ROV) was deployed into these cisterns to obtain both video footage and sonar range measurements. Six different mapping and localization techniques were employed, including (1) sonar image mosaics using stationary sonar scans, (2) sonar image mosaics using stationary sonar scans with Smart Tether position data, (3) simultaneous localization and mapping (SLAM) while the vehicle was in motion, (4) SLAM using stationary sonar scans, (5) localization using previously created maps, and (6) SLAM while the vehicle was in motion with Smart Tether position data. Top-down-view maps of 22 different cisterns were successfully constructed. It is estimated that the cisterns were built as far back as 300 B.C., and few records of their size, shape, and connectivity existed before the expedition. C

This paper documents the application of several underwater robot mapping and localization techniques used during an archaeological expedition. The goal of this project was to explore and map ancient cisterns located on the islands of Malta and Gozo. The cisterns of interest acted as water storage systems for fortresses, private homes, and churches. They often consisted of several connected chambers, still containing water. A sonar-equipped Remotely Operated Vehicle (ROV) was deployed into these cisterns to obtain both video footage and sonar range measurements. Four different mapping and localization techniques were employed including 1) Sonar image mosaics using stationary sonar scans, and 2) Simultaneous Localization and Mapping (SLAM) while the vehicle was in motion, 3) SLAM using stationary sonar scans, and 4) Localization using previously created maps. Two dimensional maps of 6 different cisterns were successfully constructed. It is estimated that the cisterns were built as far back as 300 B.C.

NEW, NON-INVASIVE FIELD SURVEY suggests, for the first time, that farmers in W. Malta created extensive networks of underground water galleries for irrigation of the terraced field systems found in proximity to cave-settlements. Although none of the components of this landscape is scientifically dated, comparative research suggests that this sophisticated water-management system is similar to the qanat technology of the Islamic and Roman world. We have to consider seriously that this could be part of a new horticultural and technological package introduced during the Muslim and post-Muslim period between the 11th-13th centuries a.d. Overall, the paper is an attempt to gain an insight into Maltese exploitation of the perched aquifer before the late-19th-century discovery of an alternative water source led to a dramatic shift in water management and production policies on the island. The associated evidence for cave-settlement is also reviewed. Many of the observations have an application to other parts of the island of Malta that possess a similar geological stratification.In the arid Maltese archipelago, farmers have been almost exclusively dependent on the annual rainfall, aided by irrigation where the geology permits. The archaeological significance and relevance of narrow rock-cut tunnels tapping the perched aquifer had until my study of the medieval and early modern cave-settlements and water galleries in NW. Malta, south-west of the Great Fault (Fig. 1), 1 and further fieldwork since 2002, escaped scholarly attention. The geology of Malta enables cave-settlement as well as the availability of trapped underground water in some parts of the island. This paper describes the evidence for the cave-dwelling phenomenon in Malta, the underground galleries that exploited this water source, and their likely relationship. But first, some understanding is required of the local geology and hydrology.

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