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Optimal formation of multiple AUVs cooperative localization based on virtual structure

Cooperative localization of multiple autonomous underwater vehicles (MAUVs) is key technology for complex underwater missions. To solve the accuracy cooperative localization problem of Leader-Follower AUVs, an optimal formation of MAUVs based on virtual structure is proposed. The principle of virtual AUV is proposed and used to evaluate the effect of formation on the cooperative localization. Also, the cost function of optimal formation is presented. And the optimal formations are discussed in two different cases.