@article{anasynchronoustwospeedkalmanfilterforrea,
  title = {An Asynchronous Two-Speed Kalman Filter for Real-Time UUV Cooperative Navigation Under Acoustic Delays},
  author = {Shuyue Li and Miguel López-Benítez and Eng Gee Lim and Fei Ma and Qian Dong and Mengze Cao and Limin Yu and Xiaohui Qin},
  year = {2026},
  eprint = {2604.02878},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2604.02878},
}