Two-Hydrophone Heading and Range Sensor Applied to Formation-Flying for Underwater AUV

Humans can detect where a sound originates from by hearing it through two ears at a time. This same concept is being applied to formation maintenance for fleets of AUV.

A leader vehicle broadcasts a message and all of the follower vehicles listen for the message with two transducers. Vehicles will attempt to stay in formation based on the signal they receive.