Instead of ‘Acknowledgments’, this section heading should really read ‘Coauthors’. I would not have written a single page if not for the enormous amount of help and support I have received from so many people (more than can be listed below). Knowing that the following cannot completely suffice, I’ll begin with a big ‘thank you ’ to all. First, Ryan, thank you for taking me on as a student six years ago. Thank you for trusting me to throw your AUVs over the side of a boat, and trusting that they would be returned. I’m glad that research has always been one part what we can show on paper, one part what we can demonstrate on real hardware. Hopefully, years from now, you’ll still think that time Paul sunburned his hands was pretty funny. Next, to Professor Barton, Professor Grizzle, and Professor Whitcomb, thank you for serving on my committee. In particular, Louis, you provided an example of scholarship over the last five years that I have tried to emulate. Moreover, for what it counts coming from me, you do some really cool work in some really cool places. To all PeRL members and affiliates, in order of appearance, Ayoung, Gaurav, Nick (glad you have a new desk), Paul (of sunburned hand fame), Sarah, Sweets (Chaves), Wolcott, Schuyler,