Development of Testbed AUV for Formation Control and its Fundamental Experiment in Actual Sea Model Basin. - Akihiro Okamoto; Motonobu Imasato; Shunka C. Hirao; Hidenori Sekiguchi; Takahiro Seta; Masahiko Sasano; Toshifumi Fujiwara (J. Robotics Mechatronics, 2021)