Having a dangerous entrance and very low visibility, the Falconera cave has only been mapped by amateur speleodivers providing maps that lack the scientific rigor, orientation and exact course to produce 3D volumetric maps to study the cavity in all its dimensions for future archaeological surveys. Sparus II AUV was equipped with a multibeam echosounder and a pan and tilt unit, and guided by expert divers while recording multibeam and navigation data. Initial trials on the necessary maneuvers were done in the water tank and then moved to the final experiments in the cave. Finally, data was processed to obtain a volumetric map of the cavity.
G. Vallicrosa, M. J. Fumas, F. Huber and P. Ridao, "Sparus II AUV as a Sensor Suite for Underwater Archaeology: Falconera Cave Experiments," 2020 IEEE/OES Autonomous Underwater Vehicles Symposium (AUV), St. Johns, NL, Canada, 2020, pp. 1-5, doi: 10.1109/AUV50043.2020.9267935.