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The estimation of position and orientation of underwater agents is the basis for control, guidance and mapping tasks. We present a solution for a team of submerged marine agents for a specific scenario. The concept takes advantage of the distribution of the single agents, with one of them at the surface to access GPS measurements. The submerged units use data from a USBL unit, local sensors, and acoustic communication and employ a set of filters to perform relative navigation. We will describe the concept and show results of HIL simulation as precondition for upcoming sea trials.

Cooperative Navigation in a Team of Marine Robots for a Specific Ocean Mapping Mission