Deploying AUVs in restricted areas

TL;DRAbstract

Mussel culture is one of the most important economic marine resources in Galicia, Spain, a region in the northwest of the Iberian Peninsula where mussel production is the highest in Europe. Most of these mussels grow in rafts that are grouped in farms. The mussel farm was located on a small bay on the Rías Altas, with a beach surrounded by rocky cliffs. Options for an emergency path were limited, and no previous bathymetry or side scan data of the area existed. The seafloor below the mussel farm was full of debris, including anchors, ropes and mussel lines. In general, this region suffers adverse weather during autumn and winter. For restricted areas, it is important to know the exact position of the fixed potential risk, which, in this study, was the rafts. The mussel farm had up to 100 rafts, which, despite being anchored to the seafloor, moved with wind and tidal currents and were not in the positions shown on the georeferenced image

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