The HAUV is a ship hull inspection vehicle jointly developed by Bluefin Robotics and MIT under Office of Naval Research and PMS-EOD funding. The HAUV employs a unique DVL-based hullrelative navigation and control approach, which allows close range sonar imaging, without recourse to any external navigation aid and without preparation of the ship being inspected. The HAUV is a novel underwater robot that combines the maneuverability of an ROV with the flexibility of autonomous operations, so as to efficiently perform detailed surveys of large marine structures such as floating vessels. What distinguishes the HAUV from many other vehicles is its use of Doppler velocimetry along the hull to achieve fully hullrelative navigation and control. This attribute means that the vehicle can be operated without having to prepare the hull or to board the ship being inspected.