88284A9E-849A-4183-90E1-8578E56209AFSustained Autonomy through Coupled Plan-based Control and World Modelling with UncertaintyResearch GrantEP/J012432/1798CB33D-C79E-4578-83F2-72606407192CEPSRCINCOME_ACTUAL2564412DFF2567-AAB8-43E9-89EE-F4002AED4879Sonar based mapping using PHD filtera2d74859326c10fed5154795ac96e851Abdella H2014-01-01http://dx.doi.org/10.1109/oceans.2014.7003083http://dx.doi.org/10.1109/oceans.2014.7003083Conference/Paper/Proceeding/Abstract56e03fd104b6a7.49790606