The use of Unmanned Surface Vehicle (USV) teams, more commonly known as drones, has become increasingly common for aquaculture scenarios due to their availability and low cost. For monitoring to be feasible and in real time, it is necessary for the drones to be in constant communication so that they can organize themselves and send data to a land platform. This paper presents a cooperative navigation behavior in constant communication with the network layer to achieve a better overall performance in the coverage of a space and a better network quality between heterogeneous USVs. In conclusion, increasing the amount of USVs is beneficial as long as an Avoid or Assist does not impact the overall time.