Turrisi, RaymondRaymondTurrisiDücker, Daniel-AndréDaniel-AndréDückerMorrison, JohnJohnMorrisonSteinmetz, FabianFabianSteinmetzBenjamin, MichaelMichaelBenjamin2026-01-162026-01-162025-11-27IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2025979-8-3315-4393-8https://hdl.handle.net/11420/60846This work investigates the use of multiple Autonomous Surface Vehicles (ASVs) as Communication/Navigation Aids (CNAs) to enhance the navigation and state estimation of an Autonomous Underwater Vehicle (AUV). Our approach builds on recent advancements in low-cost sensors and platforms, which enable novel AUV applications across fundamental science, commercial industries, and defense. We consider six different combinations of Kalman Filter and Factor Graph localization solutions on three datasets, covering 53 minutes and 3.1 kilometers of operation. We first present the solution using the measurements from all three ASVs, before occluding measurements from two of the ASVs to assess the effect of reduced observability on localization performance.enhttp://rightsstatements.org/vocab/InC/1.0/Technology::629: Other Branches::629.8: Control and Feedback Control Systems::629.89: Computer-Controlled Guidance::629.892: RobotTechnology::623: Military Engineering and Marine Engineering::623.8: Naval Architecture; ShipbuildingTechnology::621: Applied Physics::621.3: Electrical Engineering, Electronic Engineering::621.38: Electronics, Communications EngineeringConference Paperhttps://doi.org/10.15480/882.1647510.1109/IROS60139.2025.1124722010.15480/882.16475Conference Paper