Table 2: Tabular comparison of literature review.

S No.Reference No.Cooperative Localization technique usedSensor-target configurationOptimality criteria for sensor placementResearch challenges consideredSolution typeRemarks
Experimental verificationTargets typeTarget’s position uncertainty considered?Underwater Sound SpeedUnderwater sound propagationMeasurement noiseNumericalAnalytical
stationaryMoving

1.[27]ToAMulti-sensors
Multi-targets
Determinant of FIMCSSTCS

2.[38]TDOAMulti-sensors
Multi-targets
Evaluation function based on FIMVRCRDD

3.[36]AoAMulti-sensors
Single-target
Trace of CRB matrixCSSTDD

4.[28]ToAMulti-sensors
Single-target
Determinant of FIMCSSTDD

5.[39]ToAMulti-sensors
Multi-targets
Determinant of FIMCSSTDD

6.[37]AoAMulti-sensors
Single-target
Trace of CRB matrixCSSTDD

7.[29]ToAMulti-sensors
Single-target
Determinant of FIMCSSTCS

8.[30]ToASingle-target Single-sensorDeterminant of FIMCSSTCS

9.[31]ToASingle-target
Single-sensor
Determinant of FIMCSSTCS

10.[32]ToASingle-target
Single-sensor
Empirical GramiansCSSTCS

11.[33]ToASingle-target
Single-sensor
Empirical GramiansNACSSTCSTarget position was assumed to be unknown and was estimated using range measurements in each step.

12.[34]ToASingle-target Single-sensorDeterminant of FIMCSSTCS

13.[35]ToAMulti-targets two-sensorsDeterminant of FIMCSSTCS

CS: Constant VR: Varying with the depth ST: Propagation along straight path CR: Modelled as propagating along curved path DD: Distance dependent noise variance