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This book provides an overview of control system design techniques related to underwater robotics applications.In particular, it presents optimization-based model predictive control strategies to solve control problems inherent in autonomous underwater vehicle applications.These approaches lead to desirable control system design features, such as constraint handling, prioritization among multiple design objectives, optimal control performance, and robustness against disturbances and uncertainties.The first part of the book treats the analysis of a single vehicle with focus on the formulation and solution of fixed-point-positioning, trajectory-tracking, and pathfollowing problems.The treatment then turns to solving progressively harder problems, including the coordinated control of a large-scale multirobot team.At each step, related subproblems, such as path planning, thrust allocation, collision avoidance, and time constraints for real-time implementation, are also discussed.Numerous illustrative examples are provided in each chapter to assist the reader in applying and implementing the material in real-world situations.