**:** . .,

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

** :** , , ,

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

**:** . , , 3D- . () . . . .

** (.):** 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.

PDF -
: 4026, : 1612, : 10.