Multi-Vehicle Coordinated Autonomy System for SHARC USV

The primary objective of our proposed Phase II effort is to develop a centralized multi-vehicle coordinated autonomy framework for the control of large numbers (10"s to 100"s) of SHARC (or other) unmanned surface vehicles to enable execution of several military, commercial, and science missions that otherwise could not be conducted using conventional tools for operational oversight, monitoring, and command and control at the level of individual vehicles. We are also focused on reducing the cognitive load on vehicle operators as an intended, and much needed, consequence of our proposed development efforts. Our Phase II efforts will result in the creation, validation, demonstration, and delivery of: 1) An open-architecture and modular framework for centralized autonomous control of large numbers of vehicles. This autonomy framework will include an underlying messaging and behavior arbitration mechanisms. 2) A suite of autonomous behavior modules to include general-purpose"archetype"formations of multiple vehicles as well as several mission-specific"tactical"behaviors to address a wide variety of missions of interests. 3) Modular extensions to the WGMS and GLMPC operator interfaces to allow vehicle operators to define, execute, monitor, and exert group-level supervisory control over missions involving large numbers of vehicles.