AUVs are still relatively young, in that thirty years ago they were still considered more “technical curiosities” [1] that had been proven in testing but had not yet been accepted and used as valid instruments. Today, however, they are used worldwide for a wide variety of applications. Generally, the purpose of an AUV falls into one (or more) of the following categories: scientific, military, or commercial. A brief timeline of AUV development is shown below.