# Factor-Graph-Based Passive Acoustic Navigation for Decentralized Cooperative Localization Using Bearing Elevation Depth Difference

arXiv: https://arxiv.org/abs/2506.14690 · HTML: https://mlsanity.com/paper/2506.14690/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 17 Jun 2025.

## Built on by (most cited first, 1 of 1)

- [UnderwaterVLA: Dual-brain Vision-Language-Action architecture for Autonomous Underwater Navigation](https://mlsanity.com/paper/2509.22441/) (2025)

## Abstract (arXiv)

Accurate and scalable underwater multi-agent localization remains a critical challenge due to the constraints of underwater communication. In this work, we propose a multi-agent localization framework using a factor-graph representation that incorporates bearing, elevation, and depth difference (BEDD). Our method leverages inverted ultra-short baseline (inverted-USBL) derived azimuth and elevation measurements from incoming acoustic signals and relative depth measurements to enable cooperative localization for a multi-robot team of autonomous underwater vehicles (AUVs). We validate our approach in the HoloOcean underwater simulator with a fleet of AUVs, demonstrating improved localization accuracy compared to dead reckoning. Additionally, we investigate the impact of azimuth and elevation measurement outliers, highlighting the need for robust outlier rejection techniques for acoustic signals.