• Fuzzy
• Kalman
• Lyapunov
• ROV
• USBL

This thesis presents the work done in two years to make progress in the ROV assisted archaeological exploration of undewater sites. The Venus Project is briefly introduced and both missions (Pianosa, Sesimbra) explained with some detail. In
Chapter n.1 ROV and its equipment is presented in order to evaluate the possibility of this complex system to aquire different kind of data. Chapter n.2,3,4 make explanation of reference frames, earth model and strap-down navigation.
Chapter n.5 is related to the ROV Kinematics and data fusion to improve assisted navigation. Chapter n.6 complete the treatment of ROV and its mathematical description and illustrate some dynamic control Lyapunov-based. Image processing,
distortion estimation and mosaicing algorithm is presented in the Chapter n.7.
Data format and GIS system used for Venus Project’s missions are included in the
last chapter.