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Springer Tracts in Advanced Robotics
This paper focuses on Direct Policy Search (DPS) for cooperative path planning of a single beacon vehicle supporting Autonomous Underwater Vehicles (AUVs) performing surveying missions. Due to the lack of availability of GPS signals underwater, the position errors of the AUVs grow with time even though they are equipped with proprioceptive sensors for dead reckoning. One way to minimize this error is to have a moving beacon vehicle with good positioning data transmit its position acousticallydoi:10.1007/978-3-642-55146-8_23 fatcat:54yndgmvcngwpl5msd6an6jy5i