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This paper will show how AUV and ROV can complement each other in a scientific mapping campaign in the Trondheim Fjord. To complete this survey, a multidisciplinary approach was necessary to adapt the industrial and military technology to identify and map object of interest (OOI) on the seafloor. NTNU AUR-Lab and FFI mobilized for a collaborative cruise with ROV Minerva equipped with: video camera, dynamic positioning system, still camera for photo mosaic, UHI (Underwater Hyper spectral Imager), MRU and MBE and the AUV Hugin HUS with synthetic aperture side scan sonar and still camera as main instruments. These platforms complemented each other; the AUV had an unprecedented area capacity for mapping and search, while the ROV provided detailed information of the site.

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A B S T R A C TThis paper describes an autonomous underwater vehicle (AUV) and a remotely operated vehicle (ROV) complementing each other on a scientific cruise in the Trondheim Fjord (Norway). The Norwegian University of Science and Technology Applied Underwater Robotics-Laboratory and the Norwegian Defense Research Establishment mobilized for a collaborative cruise with an ROV equipped with video camera, dynamic positioning system, still camera for photographic mosaic, underwater hyperspectral imager (UHI) and inertial measurement unit, and the AUV Hugin HUS with synthetic aperture sonar (SAS) and still camera as main instruments. A multidisciplinary approach was used to set up the operations for using ROV, AUV, SAS, and UHI to document archaeological and biological sites. The cruise was run as an integrated operation processing data online and using collected data actively in the cruise planning and replanning.The AUV presented unparalleled area coverage capacity for mapping and search, while the ROV provided detailed information from the sites. During the cruise, approximately 20 km 2 were mapped with high-resolution sensors, and the data were ground-truthed using the ROV. These data provided new information and insight of both biological and archaeological sites.

Thorsnes et al. Strategy Cold Seep Habitats expulsion. An important finding is that the bathymetric resolution of shipborne multibeam echosounders will often be too low to detect cold seep habitats. This means that a nested multi-resolution approach involving a multitude of platforms and sensors is required to provide the full picture.