Informative path planning (IPP) applied to bathymetric mapping allows AUVs to focus on feature-rich areas to quickly reduce uncertainty and increase mapping efficiency. Existing methods based on Bayesian optimization (BO) over Gaussian Process (GP) maps work well on small scenarios but they are short-sighted and computationally heavy when mapping larger areas, hindering deployment in real applications. To overcome this, we present a 2-layered BO IPP method that performs non-myopic, real-time planning in a tree search fashion over large Stochastic Variational GP maps, while respecting the AUV motion constraints and accounting for localization uncertainty. Our framework outperforms the standard industrial lawn-mowing pattern and a myopic baseline in a set of hardware in the loop (HIL) experiments in an embedded platform over real bathymetry.
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