“…Traditionally utilised in the marine environment, autonomous underwater vehicles (AUVs) use active sensing to guide them through missions such as maintaining survey depth for consistent resolution sea bed mapping (Brothers et al, ; Covault, Kostic, Paull, Ryan, & Fildani, ; Maier et al, ; Tubau et al, ), coral reef mapping (Armstrong & Singh, ), submarine lava identification (McClinton & White, ), and sea bed classification (Lucieer, Hill, Barrett, & Nichol, ). Terrestrial water applications are less common and require careful consideration due to the complex motion of water alongside the need for improved object detection and avoidance (Li, Xie, Luo, & Shi, ; Zhao, Lu, & Anvar, ).…”