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2014 Oceans - St. John's
This paper reports on an algorithm for planning a practical trajectory for a surface vehicle that provides range measurements to an autonomous underwater vehicle (AUV). We consider server-client cooperative localization in which a server vehicle provides relative range constraints to minimize the uncertainty of a client vehicle. Our approach assumes the nominal client mission plan is available and draws potential server trajectories from a set of parameterized trajectory classes. We provide adoi:10.1109/oceans.2014.7003099 fatcat:cfifdzrrtjdbrp4c5ouiuyuwoi