This effort is tasked with the cooperative control of multiple Unmanned Surface Vehicles (USVs), specifically the Autonomous Maritime Navigation (AMN) and Combatant Maritime Vehicle (CMV), in long duration, complex mission scenarios. JPL-developed high-level and low-level autonomy capabilities for USVs are based on Continuous Activity Scheduling Planning Execution and Re-planning (CASPER) and Control Architecture for Robotic Agent Command and Sensing (CARACaS). JPL will integrate and test the behaviors for coordinated operations among autonomous boats and unmanned aerial vehicles (UAVs) by developing the interface between the adaptive area search algorithms running on the UAVs in communication-limited environments (developed by Dr. Daniel Pack of the US Air Force Academy) and CARACaS running on the autonomous boats. In addition, JPL will port the JAUS (Joint Architecture for Unmanned Systems) Tool Set (Autocoder supplied by the JAUS Working Group) needed for commanding and extended operations during long duration, complex mission scenarios to CARACaS. This integration and testing process will support the OSD Griffin Demonstration of cooperative multiple manned/unmanned vehicles performing advanced operations.
