This paper presents a decentralized communication planning algorithm for cooperative terrain-based navigation (dec-TBN) with autonomous underwater vehicles. The proposed algorithm uses forward simulation to approximate the value of communicating at each time step. The simulations are used to build a directed acyclic graph that can be searched to provide a minimum cost communication sc... https://www.roneverhart.com/Cookies-X-G-Pen-Roam-Portable-E-Rig-Vaporizer/