**9. Acknowledgements**

The authors wish to gratefully acknowledge the support of Doug Horner, Co-Director of the CAVR and Principle Investigator for the REMUS UUV and SeaFox USV research programs at NPS. In addition, Sean Kragelund would like to thank his CAVR colleagues Tad Masek and Aurelio Monarrez. Mr. Masek's outstanding software development work to implement obstacle detection and mapping with forward looking sonar made possible the OA applications described herein. Likewise, the tireless efforts of Mr. Monarrez to continually upgrade, maintain, and operate CAVR vehicles in support of field experimentation have made a lasting contribution to this Center.
