For the last decade, scientists have deployed increasingly capable underwater robots to map and monitor pockets of the ocean to track the health of fisheries, and survey marine habitats and species. In general, such robots are effective at carrying out low-level tasks, specifically assigned to them by human engineers -- a tedious and time-consuming process for the engineers. Now a new programming approach gives robots more "cognitive" capabilities, enabling humans to specify high-level goals, while a robot performs high-level decision-making to figure out how to achieve these goals....