| AUV | Autonomous Underwater Vehicle |
| GPM | Gauss Pseudospectral Method |
| SQP | Sequential Quadratic Programming |
| LPM | Legendre Pseudospectral Method |
| RPM | Radau Pseudospectral Method |
| GPOPS | Gauss Pseudospectral Optimization Software |
| SNOPT | Sparse Nonlinear Optimizer |
| LG points | Legendre-Gauss points |
| NLP | Nonlinear Programming |
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