Nader Boutros¹, Jacquomo Monk², Oscar Pizarro^1,3, Stefan B Williams⁴ and Neville Barrett², (1)University of Sydney, Australian Centre for Field Robotics, Sydney, NSW, Australia, (2)University of Tasmania, Institute for Marine and Antarctic Studies, Hobart, TAS, Australia, (3)ACFR, University Of Sydney, Australia, (4)The University of Sydney, Australian Centre for Field Robotics, Sydney, NSW, Australia