LIRMM / LAFMIA Collaboration Keywords · Control of underwater vehicles. · Underwater image processing. · Navigation and wall following. Experiments Experiments are conducted both with LAFMIA’s Triton vehicle and LIRMM’s AC-ROV vehicle. Another vehicle (AUV) is under construction in LAFMIA. The following video shows a comparison between a PD controller and the adaptive nonlinear state feedback controller. Project We are currently conducting (LAFMIA / LIRMM / Tecnalia) a three years long PCP Project. We receive grants from Mexican Conacyt, French Foreign Office, and French Ministry of Research. Members Pr. Rogelio Lozano (CNRS Research Director, LAFMIA, Mexico) Dr. Jorge Torres-Munoz (CINVESTAV researcher, LAFMIA, Mexico) Dr Ahmed Chemori (CNRS Researcher, LIRMM, France) Dr Frederic Comby (Associate professor, LIRMM, France) Dr Vincent Creuze (Associate professor, LIRMM, France) PhD Students Eduardo Campos-Mercado (Conacyt Lafmia) Ivan Tamanaja (Conacyt Lafmia) Divine Maalouf (University Montpellier 2) Industrial Partner Our work is supported by Tecnalia Foundation.