  Aquaculture is a big marine industry and contributes to securing global food
demands. Underwater vehicles such as remotely operated vehicles (ROVs) are
commonly used for inspection, maintenance, and intervention (IMR) tasks in fish
farms. However, underwater vehicle operations in aquaculture face several
unique and demanding challenges, such as navigation in dynamically changing
environments with time-varying sealoads and poor hydroacoustic sensor
capabilities, challenges yet to be properly addressed in research. This paper
will present various endeavors to address these questions and improve the
overall autonomy level in aquaculture robotics, with a focus on field
experiments. We will also discuss lessons learned during field trials and
potential future prospects in aquaculture robotics.
