Fractional bandwidth reacquisition algorithms for VSW-MCM

Ben Cook
Daniel Marthaler
Chad M. Topaz, Macalester College
Andrea L. Bertozzi, UCLA
Mathieu Kemp

Abstract

Autonomous underwater vehicles are gradually being recognized as key assets in future combat systems. Central to this attitude is the realization that teams of vehicles acting in concerted fashion can accomplish tasks that are either too costly or simply outside the range of capabilities of single vehicles. The VSW-MCM target reacquisition problem is the primary driver of underwater multi-agent research. Because of the VSW's inherent high vehicle attrition rate and unreliable communication, it is felt that vehicle coordination must be done off-site. In this paper, we suggest an alternative to this which permits on-site coordination despite loss of vehicles and communication. Because of its generality, this approach might also be valuable in land-based and aerial applications.