• CATL protocol
• coverage optimization
• environmental impact mitigation
• formation control
• multi robot coordination
• SONAR system

This work presents a modular coordination system for multistatic sonar missions,
combining decentralized formation control, coverage optimization, and basic environmental
mitigation within the CATL protocol. The system was validated through
simulations and a hybrid experiment involving one real AUV and several simulated
teammates. Simulation and experimental results show that the system maintains stable formations under
packet loss and delayed updates, efficiently repositions receivers to improve
detection coverage, and allows real-time tasking and synchronization across heterogeneous
platforms. These results demonstrate the possibility of incorporating
coordination, optimization, and ecological awareness into a unified system under a
shared protocol for scalable and responsible multivehicle sonar operations.