## 8 Conclusions
\begin{table}
\begin{tabular}{c c c} \hline \multicolumn{3}{c}{**Survey Configuration**} \\ \hline \multicolumn{2}{c}{**Linear DME**} & \multicolumn{2}{c}{**Angular DME**} \\ \hline \(\sigma_{1}(\mathbf{q}_{1})=0.164\), \(\mathbf{U}_{1}=[1,0,0]^{T}\) & \(\sigma_{1}(\mathbf{q}_{1})=0.839\), \(\mathbf{U}_{1}=[1,0,0]^{T}\) \\ \(\sigma_{2}(\mathbf{q}_{1})=0.164\), \(\mathbf{U}_{2}=[0,0,1]^{T}\) & \(\sigma_{2}(\mathbf{q}_{1})=0.420\), \(\mathbf{U}_{2}=[0,1,0]^{T}\) \\ \(\sigma_{3}(\mathbf{q}_{1})=0.0\), \(\mathbf{U}_{3}=[0,1,0]^{T}\) & \(\sigma_{3}(\mathbf{q}_{1})=0.267\), \(\mathbf{U}_{3}=[0,0,1]^{T}\) \\ \(W_{1}(\mathbf{q}_{1})=0.0\) & \(W_{1}(\mathbf{q}_{1})=0.094\) \\ \(W_{2}(\mathbf{q}_{1})=0.0\) & \(W_{2}(\mathbf{q}_{1})=0.318\) \\ \({}^{x}W_{3}(\mathbf{q}_{1})=0.128\) & \({}^{x}W_{3}(\mathbf{q}_{1})=0.838\) \\ \({}^{z}W_{3}(\mathbf{q}_{1})=0.115\) & \({}^{y}W_{3}(\mathbf{q}_{1})=0.420\) \\ \({}^{y}W_{3}(\mathbf{q}_{1})=0.0\) & \({}^{z}W_{3}(\mathbf{q}_{1})=0.266\) \\ \hline \multicolumn{3}{c}{**Hovering Configuration**} \\ \hline \multicolumn{2}{c}{**Linear DME**} & \multicolumn{2}{c}{**Angular DME**} \\ \hline \(\sigma_{1}(\mathbf{q}_{1})=0.164\), \(\mathbf{U}_{1}=[0,0,1]^{T}\) & \(\sigma_{1}(\mathbf{q}_{1})=0.587\), \(\mathbf{U}_{1}=[0,1,0]^{T}\) \\ \(\sigma_{2}(\mathbf{q}_{1})=0.116\), \(\mathbf{U}_{2}=[1,0,0]^{T}\) & \(\sigma_{2}(\mathbf{q}_{1})=0.565\), \(\mathbf{U}_{2}=[1,0,0]^{T}\) \\ \(\sigma_{3}(\mathbf{q}_{1})=0.116\), \(\mathbf{U}_{3}=[0,1,0]^{T}\) & \(\sigma_{3}(\mathbf{q}_{1})=0.437\), \(\mathbf{U}_{3}=[0,0,1]^{T}\) \\ \(W_{1}(\mathbf{q}_{2})=0.022\) & \(W_{1}(\mathbf{q}_{2})=0.145\) \\ \(W_{2}(\mathbf{q}_{2})=0.707\) & \(W_{2}(\mathbf{q}_{2})=0.745\) \\ \({}^{x}W_{3}(\mathbf{q}_{2})=0.050\) & \({}^{x}W_{3}(\mathbf{q}_{2})=0.565\) \\ \({}^{y}W_{3}(\mathbf{q}_{2})=0.067\) & \({}^{y}W_{3}(\mathbf{q}_{2})=0.587\) \\ \({}^{z}W_{3}(\mathbf{q}_{2})=0.115\) & \({}^{z}W_{3}(\mathbf{q}_{2})=0.437\) \\ \hline \end{tabular}
\end{table} 
Table 5: Quantitative maneuverability indices for the UNIFI DIEF AURV. **Author Contributions:** Conceptualization, E.T., M.P. and B.A. ; methodology, E.T., M.P. and B.A. ; software, E.T. ; validation, E.T., M.P. ; formal analysis, E.T., B.A. ; investigation, E.T., M.P. and B.A. ; resources, B.A. ; writing--original draft preparation, E.T. ; writing--review and editing, E.T., M.P. and B.A. ; visualization, E.T. ; supervision, B.A. ; project administration, B.A. ; funding acquisition, B.A. All authors have read and agreed to the published version of the manuscript. **Funding:** This work has been supported by Project SCN00306 SUONO--Safe Underwater Operations iN Oceans funded by the Italian Ministry of Education, University, and Research in the framework of the competitive call on Smart Cities and Communities--Topic on Marine technologies (2014-2021), and by Project RUVIFIST (Reconfigurable Underwater Vehicle for Inspection, Free-floating Intervention and Suvey Tasks), funded by the Universities of Pisa, Siena, Firenze in the framework of the POCARNO Project funded by the POC MISE program of the Italian Ministry of Economic Development. **Conflicts of Interest:** The authors declare no conflict of interest.