GhostSwimmer: Tactically Relevant, Biomimetically Inspired, Silent, Highly Efficient and Maneuverable Autonomous Fish Robot

The proposed Phase II GhostSwimmer program is intended to not only create an advanced and improved vehicle, but to prove that biomimetic technology, specifically GhostSwimmer, is a viable and often optimal option for Navy missions. The major goals of Phase II are: prove and characterize platform maneuverability, efficiency, and stealth; develop manufacturability and affordability; define the role of non-conventional actuators in a vehicle of this size unconditionally given current technology; and provide a direct path for integration of this vehicle into the fleet/market. During Phase II, the team intends to create upgraded GhostSwimmer(s) that can perform simple, 2D, then 3D navigation (path following) with an upgraded control system. It will be characterized and compared directly to the REMUS 100. Other capability developed include: advanced sensing, inter-vehicle comms, and schooling. The process for developing advanced maneuver and efficiency in this program includes a risk reducing approach that removes the need for extensive iterative hydrodynamics analysis that could put program success at risk. Additionally, the controls and testing approach sets GhostSwimmer up for development of a bio-inspired navigation system that enables future demonstration of complex underwater obstacle avoidance and 3D path planning with fast swimming, fast agile maneuver, and optimized efficiency.