## 4 Conclusions  
In the paper under consideration, the results of a constructive change in the existing model of the SHADOW underwater glider were demonstrated. Such results are relevant for the MRC group application, as well as for the low-power broadcast station operation in constrained and shallow sailing areas. The study showed that placing the buoyancy engine system and wing surfaces backwards provides a greater maneuverability of the vehicle, including the turning radius of the glider \(\dot{R}=21\) m, which is almost two times less than the standard glider configuration. Moreover, placing the wings backwards led to a decrease in the pitch control system, which reduces the consumption of the glider's energy system and increases its autonomous operation time. The conducted field experiments demonstrated the successful use of an underwater glider in order to monitor the specified areas of the water area. The described design changes, namely, the displacement of the wing surfaces into the art part of the glider, led to a decrease in the radius of rotation of the device of more than 1.5 times and, as a consequence, an increase in its maneuverability. The achieved indicators of the turning radius make it possible to use the glider as part of the MRC group.  
The described algorithm, which forms a single field of view of the group, allows further formation of the logic of the behavior of the AUV group during movement process in uncertain environments. The possibility of using this algorithm in devices operating in natural conditions requires a laboratory experiment, since the effectiveness of the algorithm directly depends on the external conditions of the marine environment, such as water turbidity and other factors.  
In further research, the authors plan not only to study aspects of using neural network approaches in the group control system and the implementation of MRC route planning, but also to simulate the developed neural network systems and algorithms, as well as additionally conduct full-scale sea trials of existing MRC models.  
Figure 15: Draft of the general field of view and decision-making on reconfiguration by the AUV group.  
**Author Contributions:** Conceptualization, V.R.; methodology, V.R.; validation, A.G.; formal analysis, T.S.; investigation, A.M. and A.G.; resources, D.N.; data curation, V.R. and D.N.; software A.M.; writing--original draft preparation, A.M. and V.R.; writing--review and editing, D.N.; visualization, A.G. and T.S.; supervision, I.K. and D.N.; project administration, I.K.; funding acquisition, D.N. All authors have read and agreed to the published version of the manuscript.  
**Funding:** The research was partially funded by the Ministry of Science and Higher Education of the Russian Federation as part of the World-Class Research Center program: Advanced Digital Technologies (contract No. 075-15-2020-903 dated 16.11.2020).  
**Acknowledgments:** The authors thank [PERSON] for significant help in the article preparation.  
**Institutional Review Board Statement:** Not applicable.  
**Informed Consent Statement:** Not applicable.  
**Data Availability Statement:** Not applicable.  
**Conflicts of Interest:** The authors declare no conflict of interest.