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This project involves getting underwater autonomous vehicles to work together when mine countermeasures are encountered. This involves communication, resource allocation, and information passing. A communication structure is being developed that uses a common control language and message parsing. As vehicles in the search pattern get disabled, either extra resources will need to take their place or the remaining vehicles will need to recalculate their path to account for the lost vehicle. During a search, vehicles will communicate information such as the location of mines and hazards in the area, and then the vehicles will make decisions based on this information.
Currently, control logic has been written and simulated in ALWSE-MC. It has a follower vehicle replace a disabled vehicle and has the vehicles recalculate their waypoint pattern if there are no more follower vehicles.
