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(a) Girona 500 I-AUV reaches a waypoint in front of the panel within the ultra-short base line (USBL) accuracy; (b) the autonomous underwater vehicle (AUV) centers the panel in its field of view (FoV) in order to obtain several panel detections to improve its relative position; and (c) two waypoints are computed to complete the docking maneuver. If the second waypoint is reached, the vehicle pushes forward to finalize and keep the docking.
