I. Introduction

II. The Sparus II AUV  
B. Development of a Dedicated Imaging Payload

IV. Dynamic Modeling of Alice AUV  
A. Coordinate Systems and Kinematic Equations of Motion  
B. Dynamic Equations of Motion

V. Identification of the Hydrodynamic Coefficients  
A. Added Mass  
B. Hydrodynamic Damping  
C. Body Lift  
D. CFD Computation of Hydrodynamic Coefficients  
E. Propulsion System Modeling  
H. Thruster Configuration Matrix

VI. Model Calibration and Validation in Real Sea Experiments

VII. Thruster Allocation Algorithm

VIII. Improved Path-Following Controller

IX. Real Sea Experiments of the Improved Path Following Controller  
A. Mission Planning for High-Resolution Imaging

X. Conclusions