RMS Titanic Inc. mounted further expeditions to Titanic in 2004[69] and 2010, when the first comprehensive map of the entire debris field was produced. Two autonomous underwater vehicles—torpedo-shaped robots—repeatedly ran backward and forward across the 3-by-5-nautical-mile (6 km × 9 km) debris field, taking sonar scans and over 130,000 high-resolution images. This enabled a detailed photomosaic of the debris field to be created for the first time, giving scientists a much clearer view of the dynamics of the ship's sinking.