Algorithm 1 The pseudo-code of the proposed algorithms
Input:
	Set of static targets $\mathcal{T}$;
	Set of mobile AUVs $\mathcal{A}$;
	Total number of static targets N;
	Total number of mobile AUVs K;
Output:
	Tour sequence for the kth AUV: ${\mathcal{D}}_k$, $k=1,2,\dots ,K$;
	Tour trajectory for the kth AUV: ${\mathcal{S}}_k$, $k=1,2,\dots ,K$;
1:	Initialization: $n=1$;
2:	while $(n\le N)$ do
3:	if(THB-3Dubins-MTSP)
4:	# GA based MTSP calculation
5:	# Break when reaching THB constraint;
6:	else if (TLB-3Dubins-MTSP)
7:	#GA based MTSP calculation
8:	Break when reaching TLB constraint;
9:	end if
10:	$n:=n+1$;
11:	end while
12:	Initialization: $k=1$, ${\mathcal{S}}_k:=\varnothing$;
13:	while $(k\le K)$ do
14:	Initialization: $v=0$;
15:	while $(v<N_k)$ do
16:	# 3D Dubins curve plotting
17:	${\mathcal{S}}_k:=[{\mathcal{S}}_k,3\mathrm{D}\_\mathrm{Dubins}(T_v,T_{v+1})]$;
18:	$v:=v+1$;
19:	end while
20:	${\mathcal{S}}_k:=[{\mathcal{S}}_k,3\mathrm{D}\_\mathrm{Dubins}(T_{N_k},T_0)]$;
21:	$k:=k+1$;
22:	end while
23:	return${\mathcal{S}}_k$, for $k=1,2,\dots ,K$