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.

翻译：水产养殖是重要的海洋产业，对保障全球粮食需求具有重要作用。水下航行器（如遥控潜水器，ROVs）常用于渔场的检测、维护与干预（IMR）任务。然而，水产养殖中的水下航行器作业面临若干独特且严峻的挑战，例如在时变海况载荷和弱水声传感器能力的动态变化环境中导航——这些问题在研究领域尚未得到妥善解决。本文将以实地实验为重点，介绍解决上述问题并提升水产养殖机器人整体自主化水平的各项探索。我们还将讨论现场试验中获得的经验教训及水产养殖机器人的潜在未来前景。