  This paper is devoted to local sensing and communication for collective
underwater systems used in networked and swarm modes. It is demonstrated that a
specific combination of modal and sub-modal communication, used simultaneously
for robot-robot and robot-object detection, can create a dedicated cooperation
between multiple AUVs. These technologies, platforms and experiments are
shortly described, and allow us to make a conclusion about useful combinations
of different signaling approaches for collective underwater systems.
