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Franchi, M. et al. (2020). 2D Forward Looking SONAR in Underwater Navigation Aiding: an AUKF-based strategy for AUVs⁎The research leading to these results has been partially supported by the European project EU-MarineRobots (EUMR), which received funding from the European Unions Horizon 2020 research and innovation program under grant agreement No 731103.. IFAC-PapersOnLine. 53 (2), pp. 14570-14575. [Online].