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This paper investigates the problem of cooperative navigation of autonomous marine vehicles using rangeonly acoustic measurements. We consider the use of a single maneuvering autonomous surface vehicle (ASV) to aid the navigation of one or more submerged autonomous underwater vehicles (AUVs), using acoustic range measurements combined with position measurements for the ASV when data packets are transmitted. The AUV combines the data from the surface vehicle with its proprioceptive sensordoi:10.1109/iros.2010.5650250 dblp:conf/iros/PapadopoulosFLP10 fatcat:lqg6fkotcneizcvncd6vb35tye