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Localization between a swarm of AUVs can be entirely estimated through theuse of range measurements between neighboring AUVs via a class of techniquescommonly referred to as sensor network localization. However, the localizationquality depends on network topology, with degenerate topologies, referred to aslow-rigidity configurations, leading to ambiguous or highly uncertainlocalization results. This paper presents tools for rigidity-based analysis,planning, and control of a multi-AUV network which account for sensor noise andlimited sensing range. We evaluate our long-term planning framework in severaltwo-dimensional simulated environments and show we are able to generate pathsin feasible time and guarantee a minimum network rigidity over the full courseof the paths.

Network Localization Based Planning for Autonomous Underwater Vehicles with Inter-Vehicle Ranging