Abstract: The disclosure relates to the deployment and maintenance of a belt of autonomous sensors fitted out with warning sensors to monitor the area surrounding one or more sensitive points. It relates especially to anti-missile and anti-aircraft warning systems for naval surface ships against missiles and aircraft flying at low and very low altitudes. It consists in controlling the paths of the drones solely by means of their radius of curvature for which they receive an instructed value from the reference point or points. This instructed value is encoded by a frequency of a radioelectric signal sensitive to the Doppler effect. A modification of this instructed value of radius of curvature as a function of the signal of a proximity sensor makes it possible to avoid all problems of collision and to keep the drones at equal distance from one another. This mode of control proves to be particularly efficient and, at the same time, very simple.