Line formation algorithm in a self-organized swarm of micro-underwater unmanned vehicles

Most of real-world underwater exploration systems are composed of a unique remotely operated vehicle. But, another way to explore area is to use many small autonomous robots. For underwater exploratory missions, environment contraints lead to select a line formation exploration strategy. We propose in this work a line formation algorithm in a self-organized swarm of micro-underwater unmanned vehicles. This algorithm is based on emergent behavior depending on an imprecise global positioning and a precise local positioning. Our approach tries to be realistic on sensors and effectors. We tested robustness of our algorithm in various scenarios, with different initial conditions and obstacles existence.