Brigham Young University researchers built CONSORT, a planner that routes a team of robots without GPS so a lead vehicle reaches its goal quickly while teammates help keep its position error under a set limit. Across 50 random scenarios it solved 80% of cases, versus 54% for the best baseline, and in marine simulations final uncertainty landed within 6% of prediction. The work was funded in part by NAVSEA's Naval Engineering Education Consortium, with the Naval Surface Warfare Center Panama City Division. Preprint, not yet peer-reviewed.