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. 2018 Feb 23;18(2):662. doi: 10.3390/s18020662

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© 2018 by the authors.

Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/).

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Velocity states of the UUVs: (a) velocity $u$ of each UUV; (b) velocity $v$ of each UUV; (c) velocity $w$ of each UUV; (d) angular velocity $q$ of each UUV; and (e) angular velocity $r$ of each UUV.