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@article{rypkema2019rasl, title = {Relative Autonomy and Navigation for Command and Control of Low-Cost Autonomous Underwater Vehicles}, author = {Erin Marie Fischell and Nicholas Rahardiyan Rypkema and Henrik Schmidt}, journal = {IEEE Robotics and Automation Letters}, pages = {1800-1806}, number = {2}, volume = {4}, year = {2019}}