An Inexpensive Acoustic Positioning System for Low-Cost Shallow Water AUV Operation. - Inniyaka R. Irmiya; Dominic B. Solpico; Daiki Hamada; Akihiro Sugino; Rikuto Tanaka; Yuya Nishida; Kazuo Ishii (J. Robotics Netw. Artif. Life, 2023)