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Fast Formation Control for Multiple Autonomous Seaborne Test Vehicles

Description:
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The United States Navy’s Seaborne Test Team (STT) has requested that JPL adapt its Control Architecture for Robotic Agent Command and Sensing (CARACaS) algorithms and software to support the Central Test and Evaluation Investment Program (CTEIP) of the Office of the Secretary of Defense (OSD). STT provides several types of USVs for the purposes of testing and evaluating Navy personnel and systems in secure, closed-range test facilities. Currently, the vessels are primarily operated in remote control and require one operator to control each USV. CTEIP’s objective is to enable a single operator to operate at least four vehicles by adding multi-agent autonomy software, such as CARACaS, to maintain USV formations while providing automated collision avoidance for safety.

The objective of this task is to demonstrate the use of CARACaS autonomy capabilities to enable a single operator to operate at least four USVs, with an emphasis on fast and safe autonomous motion planning and control for multiple USVs operating in close formations with remotely operated vehicles. The autonomy software will be integrated with the STT’s SeaCAN software and be used for test and evaluation program support on closed government test facilities.

Point of Contact:  Joshua Vander Hook - Jet Propulsion Laboratory

Sponsored by:  Defense



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