Classification and features of search autonomous underwater vehicles control

Swarm Intelligence (SI), widely used in the field of swarm robotics (swarm robotics) -the collective behavior of group decentralized, self-organized agents -are superior capabilities of agents' swarm compared to its individual agents.It is studied and applied for a number of different tasks, where a group of autonomous underwater vehicles (AUVs) is used to solve problems with distributed approach.Recently, the need for the group application of intelligent AUVs has attracted considerable attention due to their low cost of serial production, lower costs for the use and maintenance of AUV groups, extended methods in a wider application range, fault tolerance, scalability, flexibility, efficiency enhancement of tasks execution and others.They are used for the intellectual mission tasks execution in the field of a number of important activities, such as pipeline inspections in the gas and oil industries, military implementation, restoration of sunken objects, underwater mine countermeasures and others.The types of AUV group applications provide effective and reliable results for group missions.The classification of AUVs group application methods used for underwater systems control, robotics research and the World Oceans development, which covers the AUVs plane rectilinear and curvilinear motion, as well as their group spatial motion, is proposed.The classification of underwater tasks and methods for solving them, using the AUV group has been developed.The basic methods of distributed group control without the exchange of information and with the need to ensure regular exchange of information between the AUV in the group are presented.A lot of applied scientific and technical tasks on the creation of centralized and decentralized control systems for a group of underwater vehicles performing a common mission are formulated.The obtained results can serve as a theoretical basis for the development of highly efficient systems for the AUV group control automation when performing operations in large areas in underwater environments with uncertainties.Key words: swarm intelligence;