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-0053
Agency Tracking Number: 05SB2-0255
Amount: $99,000.00
Phase: Phase I
Program: SBIR
Awards Year: 2005
Solicitation Year: 2005
Solicitation Topic Code: SB052-014
Solicitation Number: 2005.2
Small Business Information
Suite A, 75 Aero Camino, Goleta, CA, 93117
DUNS: 054672662
HUBZone Owned: N
Woman Owned: N
Socially and Economically Disadvantaged: N
Principal Investigator
 Patrick Toole
 Senior Scientist
 (805) 968-6787
Business Contact
 Marcella Lindbery
Title: Director of Contracts and Finance
Phone: (805) 968-6787
Email: mlindbery@toyon.com
Research Institution
Toyon Research Corporation, together with the University of California at Santa Barbara (UCSB) and Nautronix MariPro Corporation, proposes to develop autonomy algorithms which will transform a set of independent underwater vehicles (AUVs) into a collaborating swarm of AUVs that work together to respond to underwater threats. The paper describes the autonomy, as demonstrated as part of the Toyon CAATS seedling demonstration, from which swarm behavior emerges as each node contributes and forwards information deemed pertinent to other nodes. We describe the hierarchical autonomy structure and the overall guiding principles for achieving mission success in the dynamic noisy, shallow water environment. We describe the localization algorithm appropriate for swarming agents amid the multi-path acoustic propagation inherent to littoral regions. We present the fusion and tracking algorithms best suited for the sensor measurements (bearings-only, time-of-closest-approach) and noisy environment. We also describe the simulation tool used to develop the autonomy algorithms. Finally, we present preliminary simulation results showing the projected performance of a swarm endowed with the algorithms described herein. Toyon, UCSB, and Nautronix MariPro are ideally suited for this research and development effort and have extensive experience in sensor systems, networking, tracking, localization, and underwater acoustic communications and detection systems.

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

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