(a) -coordinate of the current tracked region
(b) AUV’s yaw angle and the desired yaw
(c) Examples of the tracked regions during the test
Figure 13: Obtained results during a field trial in a coral reef. In (a) and (b) we can observe the -coordinate of the region of interest as well as the yaw angle of the AUV, respectively. In (c) images from the tracked RoI can be seen.