Abstract—This paper reports on an exact real-time solution for server-client cooperative localization over a faulty and extremely bandwidth-limited underwater communication channel. Our algorithm, termed the origin state method, enables a ‘server’ vehicle to aid the navigation of multiple ‘client ’ vehicles via a novel representation of the server’s pose-graph that is robust to communication packet loss. This transmitted pose-graph can be used in conjunction with a decentralized extended information filter on the client to reproduce the corresponding two-vehicle server-client centralized result exactly. We present a full comparative evaluation for the first-ever real-time field implementation of the proposed algorithm for a multi-agent autonomous underwater vehicle network using underwater acoustic modems to communicate in a synchronous-clock transmission framework. I
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