Developing algorithms of auvs group behaviour for underwater local heterogeneities survey problem

A problem of search and size estimation of underwater local heterogeneities in a given area is considered. We introduce an approach to both localize heterogeneities and to estimate their dimensions and mass of substance dissolved. We suggest the method for planning work of a group of autonomous underwater vehicles /AUVs/, solving this problem. The corresponding discrete optimiza-tion problem is stated and two solution algorithms are considered. We also discuss a question of group actions re-planning in case of emergencies during an operation. The results of modeling for considered algorithms are provided.