Algorithms for underwater local heterogeneity survey based on AUV group usage

This article considers a problem of search and estimation of size for local heterogeneities in given aquatic area. We give an approach, which lets not only to localize heterogeneities but also to estimate its 3D size and mass of dissolved substance. We describe a method for planning a work of a group of autonomous underwater vehicles, solving this problem. A corresponding discrete optimization problem is stated and two algorithms for it are compared. We also consider a question of re-planning in case of emergency during operation. The results of modeling for considered algorithms are given.