Figure 8.

Control system: these waypoints, represented by a vector $p_k$, can be written in the equation ${\omega }_k=[x_{pk},y_{pk},z_{pk},V_{pk}]$, where $x_{pk}$, $y_{pk}$, and $z_{pk}$ are the absolute coordinates of the waypoints in the environment frame. $V_{pk}$ is the desired norm of the AUV velocity vector (mostly surge and dive) at the considered waypoint (can be 0).