%0 Conference Proceedings %T Hybrid Coordination Strategy of a Group of Cooperating Autonomous Underwater Vehicles %+ Pôle STIC_OSM %+ Lab-STICC_ENSTAB_CID_PRASYS %+ Département STIC [Brest] (STIC) %+ Lab-STICC_ENSTAB_CID_SFIIS %+ Pôle STIC_REMS %A Saad, Seifallah Ben %A Zerr, Benoit %A Probst, Irvin %A Dambreville, Frédéric %< avec comité de lecture %B IFAC Workshop on Multivehicle Systems MVS 2015 %C Genova, Italy %I Elsevier %3 PROCEEDINGS of 3rd IFAC Workshop on Multivehicle Systems MVS 2015 %V 48 %N 5 %P 47-52 %8 2015-05-18 %D 2015 %K formation control %K Coordination %K Multi-robots cooperation %Z Engineering Sciences [physics]/AutomaticConference papers %X In the underwater environment, the needs of data acquisition have significantlyincreased over the last decades. As electromagnetic waves show poor propagation in seawater, acoustical sensing is generally preferred. However, the emergence of small and low costautonomous underwater vehicles (AUV) allow for rethinking the underwater use of opticalsensors. Their small coverage can be significantly improved by using a fleet of coordinatedunderwater robots. This paper presents a strategy to coordinate a group of robots in order tosystematically survey the seabed and detect small objects or singularities. The proposed hybridcoordination strategy is based on two main modes. The first mode relies on a swarm algorithmto organize the team in geometrical formation. In the second mode, the group formation ismaintained using a hierarchical coordination. A finite state machine controls the high levelhybrid strategy by defining the appropriate coordination mode according to the evolution of themission. Before the sea validation, the behavior and the performance of the hybrid coordinationstrategy are first evaluated in simulation. The control of individual robots relies on visualservoing, implemented with the OpenCV library, and the simulation tool is based on Blendersoftware. The dynamics of the robots has been implemented in a realistic way in Blender usingthe Bullet solver and the estimated hydrodynamic coefficients. This paper presents and discussespreliminary results of the hybrid coordination strategy applied on a fleet of 3 AUVs %G English %L hal-01203491 %U https://hal.science/hal-01203491 %~ UNIV-BREST %~ INSTITUT-TELECOM %~ ENSTA-BRETAGNE %~ CNRS %~ UNIV-UBS %~ ENSTA-BRETAGNE-STIC %~ ENIB %~ LAB-STICC_ENIB %~ LAB-STICC %~ TDS-MACS %~ INSTITUTS-TELECOM