Architecture of AUV systems for harbour protection and mine countermeasure

For MCM and Harbour Protection, a single AUV is rarely the most efficient way to complete a mission of reconnaissance. Most of time, a system of many vehicles is the appropriate means to realise the reconnaissance of the sea bottom. The paper focuses on the architecture of AUVs fleets for reconnaissance in the field of MCM and Harbour Protection, and proposes some answers to the following questions: What are the Concepts of Operations (CONOP) that can be used for reconnaissance? What are the parameters that define these CONOPs? How to define a 'good' architecture for a system of AUVs? What is the 'right' number of AUVs we need? What is the 'right' size of AUVs we need?.