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**:** 36
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**:** 2012
**:** . ., . . / . 36. .: , 2012. .262-284.

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** (.):** group of autonomous underwater vehicles, group behavior, planning, underwater local heterogeneities

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** (.):** 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.

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