KEYWORDS: Control systems, Sensors, Navigation systems, Human-machine interfaces, Data fusion, Cameras, Computing systems, System integration, Cognition, Imaging systems
Many emerging UV (Unmanned Vehicle) cooperative control systems utilizing mission decomposition and
generic UV management techniques are UAV (Unmanned Aerial Vehicle) oriented and transition well from model
simulations to hardware due to the relative homogeneity of the air environment. Unmanned Surface Vehicles (USV's)
and other ground borne vehicles, to function robustly, must have an additional onboard capacity to negotiate local
environmental and indigenous operational factors in order to be commanded by a network, and this capacity is most
easily delineated into Skill Sets. The Autonomous Maritime Navigation Program (AMN) is developing USV systems
which target full intelligent autonomous operations and autonomy Skill Sets to allow USV's to perform unsupervised
complex missions over extended time periods at the platform level with minimum human supervision. Importantly, this
allows control systems developed for cooperating UV's to effectively control USV's by enabling local platform issues
decision making at the platform level. Using a 40 foot laboratory boat, advanced on-board control, sensing, data fusion,
physical plant and payload monitoring and management are being adapted and integrated as a system to replace
traditional human crew functions. This paper discusses a path to achieve the goal of full USV autonomy equipped with
skills to self manage, survive and navigate, and progress being made with enabling technology pieces. Initiatives and
partnerships have been formed with academia, industry, and other DoD laboratories to these ends in both independent
and collaborative RDT&E projects. Discussion includes ongoing work in sensing, data fusion, dynamic mission
planning, execution and boat operations, and integration to JAUS/TCS control protocols.
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