Distributed Collaborative Planning and Control for Undersea Surveillance using Swarms of Autonomous Underwater Vehicles

Award Information
Agency: Department of Defense
Branch: Defense Advanced Research Projects Agency
Contract: W31P4Q-06-C-0024
Agency Tracking Number: 05SB2-0251
Amount: $194,000.00
Phase: Phase I
Program: SBIR
Awards Year: 2005
Solicitation Year: 2005
Solicitation Topic Code: SB052-014
Solicitation Number: 2005.2
Small Business Information
500 West Cummings Park - Ste 3000, Woburn, MA, 01801
DUNS: 859244204
HUBZone Owned: N
Woman Owned: N
Socially and Economically Disadvantaged: Y
Principal Investigator
 Jovan Boskovic
 Autonomous Controls Group Leader
 (781) 933-5355
 jovan@ssci.com
Business Contact
 Raman Mehra
Title: President & CEO
Phone: (781) 933-5355
Email: rkm@ssci.com
Research Institution
N/A
Abstract
SSCI proposes to develop an efficient Decentralized Interception System (DIS) for a Collaborative Networked Autonomous Vehicles (CNAV). The DIS will include tasks such as the vehicle assigmnents for interception based on the overall probability of interception, and vehicle reallocation and repositioning for subsequent target interception. The key aspect of the proposed approach is the the definition of the corresponding performance criteria, and the vehicle repositioning based on the Reachable Set computation. The performance of the DIS will be tested on a high-fidelity simulation of a target intercept scenario. The specific tasks that will be performed during Phase I include: (i) Problem formulation and DIS architecture development; (ii) Development of DIS; and (iii) Test and performance evaluation through simulation. Phase II will focus on algorithm enhancement, performance evaluation through high-fidelity simulations, and Phase II transition plans. SSCI will work closely with CNAV prime contractors to implement and transition the results of this SBIR effort.

* Information listed above is at the time of submission. *

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