## S S

where i = x , y, z, y, 6 . Simaxand ct are undetermined coefficients, and S*max are the predefined maximal distances which are determined based on the AUV's ability. We hope that the maximal transfer speed Vi max

As can be seen, we can not determine S* max and c* by equation (46), so we define the other constraint equation shown in equation (47).

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