Comparison of some algorithms for centralized planning of AUV group operation for local heterogeneities survey

This paper considers an approach to a centralized planning for AUV group operation using for search of local heterogeneities in given aquatic area. Supposed that common problem could be divided for set of tasks executed in parallel by different vehicles. It leads to decreasing of common mission execution time. A method and algorithms for planning of AUV group operations are described that consider re-planning in case of AUV group change or emergency during operation. The results of modeling for considered algorithms are given.