Cooperative Autonomy in the CMRE ASW Multistatic Robotic Network: Results From LCAS18 Trial

摘要

Robotics networks for underwater surveillance applications offer the promise for the desired monitoring at lower costs than traditional approaches based on manned assets. Autonomy and networking are crucial aspects to consider in order to overcome the challenges typical of the marine environment, such as the limitations in underwater communications. This paper addresses both these aspects, describing the cooperative autonomy architecture and the strategies of the AUVs of the CMRE Anti-Submarine Warfare (ASW) network. We report tests from the LCAS18 trial. In this trial, cooperative strategies were supported by data sharing, facilitating track classification and the creation of a common tactical picture. The CMRE intelligent Cooperative Autonomous Decision Making Engine (iCADME) controlled the various phases of the robot mission. The produced tracks were classified in real-time and the ones likely to be generated by a target were selected to trigger a cooperative track prosecution strategy. The final objective was to facilitate track-to-track associations for the final target confirmation. To support cooperative autonomy, in LCAS18, the novel CMRE Cognitive Communication Architecture (CCA) was used in the CMRE ASW network for the first time. CCA managed the communications, with the aim of improving the use of the available bandwidth.The results from LCAS18 are one of the first examples in literature demonstrating the potentials of cooperative autonomy strategies and data fusion in realistic surveillance scenarios. Only autonomous decisions can in fact improve the mission performance when a reliable communication channel with the Command and Control centre cannot be guaranteed. Furthermore, cooperative decisions and data sharing allow to exploit the spatial diversity that robotic networks can provide.