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Several classes of autonomous underwater vehicles await deploy- ment on the deck of the Falkor, off the coast of western Australia. cruise off the western coast of Australia. updated. This process was repeated for “The trials went even better than the mission planner. Finally, we intro- expected. We started developing the duced more complex science goals, capability in layers and adapted them where the vehicle was asked to explore each day based on our experiences,” areas that were normally considered recalls Williams. “First, Rich Camilli’s too dangerous for gliders operated us- team worked to ensure that the Slocum ing traditional methods.” glider was functioning properly, was The Slocum glider, using this system, well calibrated and reliable. We then was able to adapt its mission plan to added reasoning capabilities in layers. avoid getting in the way of other ve-

Several different approaches to naviga- hicles, while still achieving its most tion was tested, until we found one that important scienti