This paper documents the second of two
archeological expeditions that employed several
underwater robot mapping and localization
techniques. The goal of this project is to explore
and map ancient cisterns located on the islands of
Malta and Gozo. Dating back to 300 B.C., the
cisterns of interest acted as water storage systems
for fortresses, private homes, and churches. They
often consisted of several connected chambers,
still containing water. A Remotely Operated
Vehicle (ROV), was deployed into cisterns to
obtain video and sonar images. Using a variety of
sonar based mapping techniques, two-dimensional
maps of 18 different cisterns were created.peer-reviewe