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Many environmental incidents affect large areas, often in rough terrain constrained by natural obstacles, which makes intervention difficult. New technologies, such as unmanned aerial vehicles, may help address this issue due to their suitability to reach and easily cover large areas. Thus, unmanned aerial vehicles may be used to inspect the terrain and make a first assessment of the affected areas; however, nowadays they do not have the capability to act. On the other hand, ground vehicles rely on enough power to perform the intervention but exhibit more mobility constraints. This paper proposes a multi-robot sense-act system, composed of aerial and ground vehicles. This combination allows performing autonomous tasks in large outdoor areas by integrating both types of platforms in a fully automated manner. Aerial units are used to easily obtain relevant data from the environment and ground units use this information to carry out interventions more efficiently. This paper describes the platforms and sensors required by this multi-robot sense-act system as well as proposes a software system to automatically handle the workflow for any generic environmental task. The proposed system has proved to be suitable to reduce the amount of herbicide applied in agricultural treatments. Although herbicides are very polluting, they are massively deployed on complete agricultural fields to remove weeds. Nevertheless, the amount of herbicide required for treatment is radically reduced when it is accurately applied on patches by the proposed multi-robot system. Thus, the aerial units were employed to scout the crop and build an accurate weed distribution map which was subsequently used to plan the task of the ground units. The whole workflow was executed in a fully autonomous way, without human intervention except when required by Spanish law due to safety reasons. ; : This project was funded in part by the 7th Framework Programme of the European Union under Grant Agreement No. 245986. The authors recognise the following RHEA beneficiaries: CSIC (Spain), CogVis (Austria), FTW (Austria), Cyberbotics (Switzerland), University of Pisa (Italy), University Complutense of Madrid (Spain), Tropical (Greece), AGROSAP (Spain), Polytechnic University of Madrid (Spain), AirRobot (Germany), University of Florence (Italy), IRSTEA (France), CNH (Belgium), Bluebotics (Switzerland), and CM (Italy). We acknowledge support by the CSIC Open Access Publication Initiative through its Unit of Information Resources for Research (URICI).

This thesis deals with three-dimensional reconstruction of a mobile robot's environment. Based on omnidirectional vision data, it aims at preparing military operations. We first developed a well-adapted architecture for 3D reconstruction and autonomous navigation. Calibration is a key step for a vision system in order to measure its environment. This step consists in modelling the system to establish the mathematical relationship between 3D points and their projections onto the image. After discussing a model choice, we will present a method to estimate its parameters. The stereoscopic structure of the sensor allows three-dimensional reconstruction from a static viewpoint. We thus propose algorithms allowing a dense reconstruction as well as detection of the primitives in omnidirectional images. When the sensor is moving, we use its motion to enhance the 3D model. Our major contribution consists in developing a bundle adjustment algorithm for omnidirectional stereoscopic sensors, which provides a motion estimation using only visual data. ; Les travaux présentés dans cette thèse concernent la reconstruction tridimensionnelle de l'environnement d'un robot mobile, à partir d'informations de vision omnidirectionnelle, pour la préparation d'interventions. Nous nous intéressons dans un premier temps à la conception d'une architecture matérielle adaptée aux problématiques de la reconstruction 3D et de la navigation autonome. Le calibrage d'un système de vision est une étape indispensable dès lors que celui-ci est destiné à effectuer des mesures sur son environnement. Cette phase consiste à modéliser le système pour établir la relation mathématique liant les points 3D et leurs projections dans les images. Après une discussion sur le choix du modèle, nous présentons une méthodologie pour estimer les paramètres du modèle retenu. La structure stéréoscopique du capteur que nous avons développé rend possible la reconstruction tridimensionnelle de l'environnement sans déplacement. Nous proposons donc des algorithmes ...

Recent improvements in deep learning techniques applied to images allow the detection of people with a high success rate. However, other types of sensors, such as laser rangefinders, are still useful due to their wide field of vision and their ability to operate in different environments and lighting conditions. In this work we use an interesting computational intelligence technique such as the deep learning method to detect people in images taken by a mobile robot. The masks of the people in the images are used to automatically label a set of samples formed by 2D laser range data that will allow us to detect the legs of people present in the scene. The samples are geometric characteristics of the clusters built from the laser data. The machine learning algorithms are used to learn a classifier that is capable of detecting people from only 2D laser range data. Our people detector is compared to a state-of-the-art classifier. Our proposal achieves a higher value of F1 in the test set using an unbalanced dataset. To improve accuracy, the final classifier has been generated from a balanced training set. This final classifier has also been evaluated using a test set in which we have obtained very high accuracy values in each class. The contribution of this work is 2-fold. On the one hand, our proposal performs an automatic labeling of the samples so that the dataset can be collected under real operating conditions. On the other hand, the robot can detect people in a wider field of view than if we only used a camera, and in this way can help build more robust behaviors. ; This work has been supported by the Spanish Government TIN2016- 76515-R Grant, supported with Feder funds.

This thesis deals with three-dimensional reconstruction of a mobile robot's environment. Based on omnidirectional vision data, it aims at preparing military operations. We first developed a well-adapted architecture for 3D reconstruction and autonomous navigation. Calibration is a key step for a vision system in order to measure its environment. This step consists in modelling the system to establish the mathematical relationship between 3D points and their projections onto the image. After discussing a model choice, we will present a method to estimate its parameters. The stereoscopic structure of the sensor allows three-dimensional reconstruction from a static viewpoint. We thus propose algorithms allowing a dense reconstruction as well as detection of the primitives in omnidirectional images. When the sensor is moving, we use its motion to enhance the 3D model. Our major contribution consists in developing a bundle adjustment algorithm for omnidirectional stereoscopic sensors, which provides a motion estimation using only visual data. ; Les travaux présentés dans cette thèse concernent la reconstruction tridimensionnelle de l'environnement d'un robot mobile, à partir d'informations de vision omnidirectionnelle, pour la préparation d'interventions. Nous nous intéressons dans un premier temps à la conception d'une architecture matérielle adaptée aux problématiques de la reconstruction 3D et de la navigation autonome. Le calibrage d'un système de vision est une étape indispensable dès lors que celui-ci est destiné à effectuer des mesures sur son environnement. Cette phase consiste à modéliser le système pour établir la relation mathématique liant les points 3D et leurs projections dans les images. Après une discussion sur le choix du modèle, nous présentons une méthodologie pour estimer les paramètres du modèle retenu. La structure stéréoscopique du capteur que nous avons développé rend possible la reconstruction tridimensionnelle de l'environnement sans déplacement. Nous proposons donc des algorithmes permettant la reconstruction dense de l'environnement, ainsi que des algorithmes de détection de primitives dans les images omnidirectionnelles. Lorsque le capteur est en mouvement, nous exploitons ses déplacements pour enrichir le modèle 3D. Notre principale contribution porte sur le développement d'un algorithme d'ajustement de faisceaux pour les capteurs stéréoscopiques omnidirectionnels qui permet d'obtenir une estimation des déplacements en ne nécessitant que des données visuelles.

1 Opening Session / Jean Vertut Memorial Session, Eulogy -- Advanced Teleoperation. Introductory Paper. The Advanced Teleoperation Project -- Advanced Teleoperation (I). Control and Supervision in Computer Aided Teleoperation -- Advanced Teleoperation (II). The Generalized Information Feedback Concept in Computer-Aided Teleoperation -- Advanced Teleoperation (III). An Integrated Experiment -- Analysis of a Robot Wrist Device for Mechanical Decoupling of the End-Effector Position and Orientation -- 2 Mechanics 1 -- Robot Motion: Configuration Analysis of Redundant and Non Redundant Manipulators -- Analysis of the Positioning and Orientation Accuracy in 6R Manipulators (Direct Task) -- A Unified Approach to Modelling of Flexible Robot Arms -- Solving the Inverse Kinematic Problem for Robotic Manipulators -- Determination of the Accuracy of Flexible Automatic Positioning Module with Clearances -- Invariant Kinestatic Filtering -- 3 Mechanics 2 -- Redundant Manipulators and Kinematic Singularities The Operational Space Approach -- Modelling and Simulation of Mechanical Process in Hyperstatical Gripping with n-Contact Points -- Computer Aided Modelling of Pneumo-Hydraulic Robots -- A Cartesian Model of Manipulator Kinematics -- A Method for Solving the Inverse Problem of Kinematics of Anthropomorphic Manipulators with Spherical Wrist -- Dynamic Equations of General Robots by Kane's Method -- The Role of Delay in Robot Dynamics -- 4 Synthesis and Design 1 -- Smart Hand Systems for Robotics and Teleoperation -- A Mathematical Model of a Flexible Manipulator of the Elephant's-Trunk-Type -- Analytical Design of Two-Revolute Open Chains -- On a Fundamental Study of Micro Mechanical Gripper Using Shape Memory Alloy (SMA) Actuator -- The Kinematic Design and Mass Redistribution of Manipulator Arms for Decoupled and Invariant Inertia -- Graphical-Interactive System for CAD and Simulation of Manipulation Systems -- 5 Sensing and Machine Intelligence 1 -- Force Feedback in Telemanipulators -- Theoretical and Experimental Investigations of Optical Fibre Reflective Sensors for Robotics -- Task Specification and Closed Loop Control of Manipulators in the Presence of External Sensors -- Adaptive Force Control of Grippers Taking into Account the Dynamics of Objects -- Bilateral Remote Control with Dynamic Reflexion -- 6 Control of Motion 1 -- Finger-Arm Coordination Control Method for Multiple Degrees of Freedom Robot -- A Model-Based Expert System for Strategical Control Level of Manipulation Robots -- Robot-Task Adaptability by Semi-Local Correction without Contact -- Robot Control Synthesis in Conjunction with Moving Workpieces -- Dynamic Command Motion Tuning for Robots. A Self Learning Algorithm -- 7 Sensing and Machine Intelligence 2 -- C-Surface Theory Applied to Force-Feedback Control of Robots -- Experimental Investigation of Active Force Control of Robot and Manipulator Arms -- Automatic Grasp Planning. An Operation Space Approach -- A Method of Optical Processing in the Robot Vision -- Tridimensional Optical Syntaxer -- 8 Locomotion and Walking Machines -- Towards Generalized Concepts and Tools for Unconventional Mobile Robots. General Languages, Mobility Modes -- Mobile Robotic Systems for Use in Unstructured Terrain -- Wall Climbing Vehicle Using Internally Balanced Magnetic Unit -- Experimental Development of a Walking Transport Robot -- Legs that Deform Elastically -- Features of Mechanisms Synthesis of Walking Robot Propelling Agents -- Avoiding Obstacles by a Mobile Robotized Vehicle -- 9 Application and Performance Evaluation -- The Automation of the Mine Support Erection Technology with Remotely-Controlled Manipulators -- Experimental Investigations of Robots and Manipulators -- Minimization of Vibrations of a Gantry Manipulator During Positioning -- Experimental Evaluation of Feedforward and Computed Torque Control -- Experimental Research and Development of Methods for Improving Kinematic and Dynamic Robot Characteristics -- 10 Synthesis and Design 2 -- Kinematics and Torque Control of Multi-Fingered Articulated Robot Hand -- Progress towards a Robotic Aid for the severely Disabled -- Logical Structures for Collision Avoidance in Assembly with Robots -- Repositioning-Unit for very Fine and Accurate Displacements Analysis and Design -- 11 Synthesis and Design 3 -- Polyarticulated Mechanical Structure for Decoupling the Position and Orientation of a Robot -- Application of I-Coordinates in Robotics -- Design of Spring Mechanisms for Balancing the Weight of Robots -- Structural and Geometrical Systematization of Spatial Positioning Kinematic Chains Employed in Industrial Robots -- Tasks and Methods of Constructing Mechanical Facilities and Control Systems of Industrial Robots Taking into Account their Force Interaction with the Equipment -- 12 Control of Motion 2 -- Contribution to Solving Dynamic Robot Control in Machining Process -- An Approach to Development of Real-Time Robot Models -- Time-Optimal Robotic Manipulator Task Planning -- Time-Optimal Motions of Some Robotic Systems -- Frequency Space Synthesis of a Robust Dynamic Command -- Structure Strategy Problem on a Redundant Manipulator -- Participants.

Military forces are at the forefront of technological innovations; this allows them to exercise greater control, protection, and security in the territory. This article presents a preliminary review of the worldwide technological advances by examining the news in each country's official web pages. The information collected was categorized into 18 areas to identify trends. These innovations provide effective technical tools for mission fulfillment. The most advanced categories are vehicles, weapons (short and long-range), and defense, followed by aircraft, communication, training, and logistics. Growth is forecasted in the areas of robots, sensors, and cybersecurity. Countries such as Russia, China, and the United States have more innovations, and human and economic capital, the others can be classified as followers. ; Las fuerzas militares están a la vanguardia de las innovaciones tecnológicas, lo que les permite ejercer mayor control, protección y seguridad en el territorio. Este articulo presenta una revisión preliminar de los avances tecnológicos en el mundo, mediante la exploración de las noticias en las páginas web oficiales de cada país. La información recolectada fue categorizada en 18 áreas para identificar tendencias. Las innovaciones brindan herramientas técnicas eficaces para el cumplimiento de las misiones. Las categorías de vehículos, armas (de corto y largo alcance) y defensa son las más avanzadas, seguidas por las de aeronaves, comunicación, entrenamiento y logística; en las áreas de robots, sensores y ciberseguridad se pronostica crecimiento. Países como Rusia, China y Estados Unidos cuentan con mayor número de innovaciones, capital humano y económico, los demás pueden catalogarse como seguidores.

In this study, localization and environment mapping application is aimed with an autonomous robot. A new algorithm is presented to scan a larger area, to produce faster and more accurate results. The mapping process is intended not to be affected by environmental movements. It can be used in military areas to gain manpower in the mine area or to model the environment in virtual reality applications. In autonomous robot design, the horizontal and vertical angle values of the Lidar Lite V3 are provided by two servo motors. A fourwheeled car model was used. Ultrasonic sensors are placed on the front, right and left surfaces of the robot, Raspberry Pi 3 and Pi Camera was placed on top. It is seen that the moving average filter removes the noise generated on the map. The Lidar Lite V3 was able to take measurements at longer distances. Noise generation is prevented by motion detection algorithm. It can be used in interior space mapping, environment modeling, virtual reality applications, military areas, mining sector and graphic applications. In outdoor mapping, it can be used to create a map of an area of 40 meters in diameter. The mapping process was performed as close to the actual values by using the moving average filter and the Lidar Lite V3. The mapping process with the motion detection system is paused and actual position data are obtained using GPS. ; Bu çalışmada otonom bir robot ile çevre haritalaması ve konum takibi yapılması amaçlanmıştır. Daha geniş bir alanın taranması, daha hızlı ve doğru sonuçların üretilmesi amacıyla yeni bir algoritma sunulmuştur. Haritalama işleminin ortam hareketlerinden etkilenmemesi amaçlanmıştır. Askeri alanlarda, maden alanında insan gücünden kazanç sağlamak veya sanal gerçeklik uygulamalarında ortam modeli çıkarmak amacıyla kullanılabilmektedir. Otonom robot tasarımında iki adet servo motor ile Lidar Lite V3'e yatay ve düşey açı değerleri verilmiştir. Dört tekerlekli bir araba modeli kullanılmıştır. Robotun ön, sağ ve sol yüzeylerine birer ultrasonik sensör ve üzerine ...

As the Internet of Things (IoT) penetrates dierent domains and application areas, it has recently entered also the world of robotics. Robotics constitutes a modern and fast-evolving technology, increasingly being used in industrial, commercial and domestic settings. IoT, together with the Web of Things (WoT) could provide many benefits to robotic systems. Some of the benefits of IoT in robotics have been discussed in related work. This paper moves one step further, studying the actual current use of IoT in robotics, through various real-world examples encountered through a bibliographic research. The paper also examines the potential ofWoT, together with robotic systems, investigating which concepts, characteristics, architectures, hardware, software and communication methods of IoT are used in existing robotic systems, which sensors and actions are incorporated in IoT-based robots, as well as in which application areas. Finally, the current application of WoT in robotics is examined and discussed. ; This work has been partly supported by the project that has received funding from the European Union's Horizon 2020 research and innovation programme under grant agreement No 739578 (RISE – Call: H2020-WIDESPREAD-01-2016-2017-TeamingPhase2) and the Government of the Republic of Cyprus through the Directorate General for European Programmes, Coordination and Development.

Lava caves are the result of a geological process related to the cooling of basaltic lava flows. On the Moon, this process may lead to caves several kilometers long and diameters of hundreds of meters. Access to lava tubes can be granted through skylights, a vertical pit between the lava tube and the lunar surface. This represents an outstanding opportunity for long-term missions, for future permanent human settlements, and for accessing pristine samples of lava, secondary minerals and volatiles. Given this, the ESA launched a campaign through the Open Space Innovation Platform calling for ideas that would tackle the many challenges of exploring lava pits. Five projects, including Robocrane, were selected. Solar light and direct line of sight (for communications) with the lunar surface are not available inside lava tubes. This is a problem for any robot (or swarm of robots) exploring the lava tubes. Robocrane tackles both problems by deploying an element (called the Charging head, or CH) at the bottom of the skylight by means of a crane. This CH behaves as a battery charger and a communication relay for the exploring robots. The required energy is extracted from the crane's solar panel (on the surface) and driven to the bottom of the skylight through an electrical wire running in parallel to the crane hoisting wire. Using a crane allows the system to deal with unstable terrain around the skylight rim and protect the wires from abrasion from the rocky surface and the pit rim. The charger in the CH is wireless so that the charging process can begin as soon as any of the robots get close enough to the CH. This avoids complex and time-consuming docking operations, aggravated by the skylight floor orography. The crane infrastructure can also be used to deploy the exploring robots inside the pit, reducing their design constraints and mass budget, as the robots do not need to implement their own self-deployment system. Finally, RoboCrane includes all the sensors and actuators for remote operation from a ground station. RoboCrane has been designed in a parametric tool so it can be dynamically and rapidly adjusted to input-variable changes, such as the number of exploring robots, their electrical characteristics, and crane reach, etc. ; This work was supported in part by the Spanish Government under the Project MCIU-19-RTI2018-099682-A-I00 and by ESA under project CN-UE-20-ROBOCRANE.

Este proyecto está desarrollado según las necesidades que presenta la ciudad de Esmeraldas, cuya población percibe malos olores producidos por la refinería de petróleos, generando conflicto ambiental y daños a la salud de la población. Esta industria utiliza una fuente de energía fósil; inicialmente se utilizó para monitoreo una técnica manual, luego mejoraron con una técnica semiautomática y actualmente se instalaron sensores en cinco partes, dos al interior y tres al exterior y se desconocen los resultados, a pesar de mejorar los procedimientos mediante una repotenciación todavía se perciben malos olores. Esto ha motivado una investigación para monitorizar datos de los gases tóxicos mediante una red ZIGBEE/4g en un dron programado en forma autónoma, operando en: Tolita, Codesa y la Propicia, esto se lo realiza porque uno de los puntos más importantes del plan del buen vivir que impulsa el gobierno nacional a través del ministerio del ramo es la innovación tecnológica y una excelente calidad de vida para los trabajadores, población y prevenir el daño al ecosistema, por ello el objetivo principal de desarrollar una red de sensores inalámbricos para el monitoreo de gases tóxicos emitidos por refinería de Esmeraldas incorporados en un robot aéreo móvil , desde donde se tomarán las muestras de los gases tóxicos que luego son procesados, almacenados en un módulo XBEE y serán trasmitidos vía RF XBEE/4GLTE GPS quien enviara los datos a través de una red celular que tendrá servicio de internet TCP/IP. ; This project is developed according to the needs of the city of Esmeraldas, whose population perceives bad odors produced by the oil refinery, generating environmental conflict and damage to the health of the population. This industry uses a fossil energy source; initially, a manual technique was used for monitoring, then improved with a semi-automatic technique and sensors were installed in five parts, two inside and three outside, and the results are unknown, despite improving the procedures through a repowering, smells. This has motivated an investigation to monitor toxic gas data through a ZIGBEE / 4g network in a drone programmed autonomously, operating in: Tolita, Codesa and La Propicia, this is done because one of the most important points of the plan of the good living that drives the national government through the ministry of the sector is technological innovation and an excellent quality of life for workers, population and prevent damage to the ecosystem, therefore the main objective of developing a network of wireless sensors for monitoring of toxic gases emitted by the Esmeraldas refinery incorporated in a mobile aerial robot, from where samples of the toxic gases will be taken and then processed, stored in an XBEE module and transmitted via RF XBEE / 4GLTE GPS who will send the data through of a cellular network that will have Internet service TCP / IP.Key Words:

Robotics is an extremely dynamic field with thriving advancement in its technology. The capabilities of trusted robots will grow and evolve over time. Robots will be able to explain what they do and why. This will enable people to better understand what we trust in machines and where and how we can use them, and will lead to a better understanding of the new technology and, in particular, confidence in secure use. It remains in the hands of humans how we want to use these machines and robots. The article explains what a robot is made of, where we stand with robots, robot vehicles, robot intelligence, industrial robots, aspects of legislation, legal consequences, artificial intelligence and robots, deep learning systems, the businessman's problem, and the economic model.

To autonomously explore complex underwater environments, it is convenient to develop motion planning strategies that do not depend on prior information. In this publication, we present a robotic exploration algorithm for autonomous underwater vehicles (AUVs) that is able to guide the robot so that it explores an unknown 2-dimensional (2D) environment. The algorithm is built upon view planning (VP) and frontier-based (FB) strategies. Traditional robotic exploration algorithms seek full coverage of the scene with data from only one sensor. If data coverage is required for multiple sensors, multiple exploration missions are required. Our approach has been designed to sense the environment achieving full coverage with data from two sensors in a single exploration mission: occupancy data from the profiling sonar, from which the shape of the environment is perceived, and optical data from the camera, to capture the details of the environment. This saves time and mission costs. The algorithm has been designed to be computationally efficient, so that it can run online in the AUV's onboard computer. In our approach, the environment is represented using a labeled quadtree occupancy map which, at the same time, is used to generate the viewpoints that guide the exploration. We have tested the algorithm in different environments through numerous experiments, which include sea operations using the Sparus II AUV and its sensor suite ; This research was funded by the GIRONA1000 and 3DAUV projects under the grant agreements DPI2017-86372-C3-2-R and DPI2015-73978-JIN, respectively, and by the Spanish Government through the FPU14/05493 PhD grant to E. Vidal

This paper presents a comparative study of docking algorithms intended for non-holonomic autonomous underwater vehicles, docking in funnel-shaped docking stations, operating under the influence of ocean currents. While descriptive surveys have been already reported in the literature, our goal is to compare the most relevant algorithms through realistic Monte Carlo simulations to provide an insight into their performance. To this aim, a new numerical performance indicator is proposed, which, based on the geometry of the manoeuvre, is able to characterize a successful or unsuccessful docking, providing a metric for comparison. The experimental study is carried out using hardware-in-the-loop simulation by means of the Stonefish simulator, including the dynamic/hydrodynamic model of the Sparus II AUV, models of all internal and external sensors, and the collision geometry representing the docking station ; This work was supported by the European Union's Horizon 2020 Research and Innovation Program through the ATLANTIS ''The Atlantic Testing Platform for Maritime Robotics: New Frontiers for Inspection and Maintenance of Offshore Energy Infrastructures'' Project under Grant 871571

After more than 20 years of research, ADAS are common in modern vehicles available in the market. Automated Driving systems, still in research phase and limited in their capabilities, are starting early commercial tests in public roads. These systems rely on the information provided by on-board sensors, which allow to describe the state of the vehicle, its environment and other actors. Selection and arrangement of sensors represent a key factor in the design of the system. This survey reviews existing, novel and upcoming sensor technologies, applied to common perception tasks for ADAS and Automated Driving. They are put in context making a historical review of the most relevant demonstrations on Automated Driving, focused on their sensing setup. Finally, the article presents a snapshot of the future challenges for sensing technologies and perception, finishing with an overview of the commercial initiatives and manufacturers alliances that will show future market trends in sensors technologies for Automated Vehicles. ; This work has been partly supported by ECSEL Project ENABLE- S3 (with grant agreement number 692455-2), by the Spanish Government through CICYT projects (TRA2015- 63708-R and TRA2016-78886-C3-1-R).

We present a seabed profile estimation and following method for close proximity inspection of 3D underwater structures using autonomous underwater vehicles (AUVs). The presented method is used to determine a path allowing the AUV to pass its sensors over all points of the target structure, which is known as coverage path planning. Our profile following method goes beyond traditional seabed following at a safe altitude and exploits hovering capabilities of recent AUV developments. A range sonar is used to incrementally construct a local probabilistic map representation of the environment and estimates of the local profile are obtained via linear regression. Two behavior-based controllers use these estimates to perform horizontal and vertical profile following. We build upon these tools to address coverage path planning for 3D underwater structures using a (potentially inaccurate) prior map and following cross-section profiles of the target structure. The feasibility of the proposed method is demonstrated using the GIRONA 500 AUV both in simulation using synthetic and real-world bathymetric data and in pool trials ; This research was sponsored by the Spanish government (COMAROB Project, DPI2011-27977-C03-02) and the MORPH EU FP7-Project under the Grant agreement FP7-ICT-2011-7-288704. We are grateful for this support