www.sisinc.org
Experimentation, USV’s, and Autonomy
Presented atASNE Intelligent Ships Symposium
May 2015
Carl ContiCAPT, USN (Ret)
Spatial Integrated Systems, [email protected]
Warfighter Driven
Fleet Experimentation Continuum
2
Concept Driven Solution Driven
VisionConcept
Generation
Concept Development
Knowledge
OPNAV / USFF / NWDC NWDC / NWC / NCCs USFFC PEOs / WCOEs
Road MapsCapabilities
Technology
DOTMLPF- P
Solutions
TTP
WorkshopsBOGSATSeminars
The Mission, The Threat, The Problem
Warfighting Challenges
Capability Gaps
JUONS/UONSWargames
M&S
LOEs
Fleet Experiments
Today
Fleet Experimentation Timeline
Valiant Shield / TW Sep
C7F AOR
RIMPAC / TW Jun-Jul
SOCAL to HI OPAREAS
ASWEET
SOCAL SCORE
Bold Alligator
VACAPES
FY Fleet Experimentation Overview
Terminal Fury
PACFLT AOR
Black Dart PT Mugu Sea Range
C3F ExerciseDates and Location
TBD
FBX xxDates and Location TBD
USV Capability Evolution
2009 2014
Chief of Naval Operations (CNO) directed Chief of Naval Research (CNR) to investigate the possibility of exploiting technology advancements in the field of robotics and autonomous systems into a potential offensive swarm capability using common USN small vessels
Conducted 11-14 Aug 2014, on the James River, VA
5 Unmanned Surface Vehicles (USV) under “CARACaS” Autonomous Control – A first for US Navy
Demonstration of:• Escort of High Value Unit• Collaborative Attack on “Red” Contact of Interest• World Model Fusing Static and Dynamic Objects• Shared Fused Situational Awareness (SA) Picture among USVs and C2• Obstacle Avoidance• Maritime Rules of the Road (COLREGS)
Swarm Demonstration/Experiment
•OPNAV Director, Innovation, Test and Evaluation, and Technology Requirements (N84)•Office of Naval Research (ONR) •US Fleet Forces Command•Naval Warfare Development Command•Naval Expeditionary Combatant Command•Naval Sea Systems Command•US Coast Guard•Army Applied Aviation Technology Directorate •Maritime Administration
Swarm Government Team
Swarm Autonomy Technical Participants
Spatial Integrated Systems, Inc. (SIS)• Demonstration lead/Lead system integrator• Hardware integration• Autonomy behavior development• World Model supporting autonomy and cooperative data
sharing
NASA Jet Propulsion Lab (JPL)• Intelligent, goal-directed autonomy using the CARACaS
autonomous control engine• Autonomy architecture and templates• COLREGS-aware motion planning
Daniel H. Wagner Associates (DWH) and Johns Hopkins University/Applied Physics Laboratory (JHU/APL)
• Data fusion using the Decentralized and Autonomous Data Fusion Service (DADFS)
National Aeronauti cs andSpace Administration
Jet Propulsion LaboratoryCalifornia Institute of Technolog yPasadena, California
Swarm Objectives
• Objective: Validate, on-water, key technical enablers for collaborative operation of multiple autonomous USVs for offensive operations.
• Key enablers were: – 1) Distributed, fast, low bandwidth fusion of sensor data
among multiple USVs
– 2) Control Architecture for Robotic Agent Command and Sensing (CARACaS) autonomous control.
Vessels for Swarm Experimentation
Vessels from Naval Surface Warfare Center Carderock Division (NSWCCD) Combatant Craft Division (CCD) and Naval Surface Warfare Center Dahlgren Division (NSWCDD):
• 7m RHIB • 11m RHIB with cabin• 11m RHIB without cabin • 27ft Harbor Security Boat (HSB)• 38ft Small Unit Riverine Craft (SURC)
Vessels equipped with commercial SIMRAD CW marine RADAR
Vessels from Atlantic Targets and Marine Operations (ATMO) • Eight remote controlled USVs
(plus four spares)• High Value Unit (HVU) /
Command Ship Relentless.
Autonomy Engine: CARACaS
Open Architecture Autonomy Engine CARACaS designed using JPL flight-derived technology with an integrated blend of hard real-time and periodic process control.• Fee-free licensing available for government work.
Demonstrated for maritime autonomy:• Full onboard, self-contained sensing and decision making• Safe navigation of vehicles guaranteed by onboard hazard
detection/avoidance, with COLREGS compliance• Mission planning, resource- and fault-aware replanning• State-of-the-art camera-based perception systems
Maritime autonomy experience for US Navy / ONR, DARPA, OSD, and NOAA. Highlights: 2014 CNO USV Swarm; Current PMS 406 Technology Transfer Agreement (TTA) Level C; Trident Warrior 2009-2012; FLEX 2012; DARPA ACTUV autonomy and perception; Littoral Combat Ship program; ONR Swampworks autonomous perception projects; Griffin demonstrations; Operation Adaptation exercises.
Mars Exploration Rover
CARACaS
# of
Aut
onom
ous
Beh
avio
rsLe
ssM
ore
Hum
an I
nvol
vem
ent
Less
Mor
e
Automobile Self
Parallel Parking
Aircraft Autopilot
AutomobileAdaptive Cruise Control
AutomobileCruise Control
Examples:
AEGIS in “Robo-Cruiser”
mode
Mor
eLe
ssR
OE
Res
tric
tions
Aut
onom
y N
eed
by W
arfa
re P
hase
Phase 0
Phase 1
Phase 2
Phase 3
Mor
eLe
ss
Full Manual Control
Full Auto Control
11M RHIB
Com
pute
r In
telli
genc
e Le
vel N
eede
dM
ore
Less
CARACaS
Remote Control
Autonomy “Thermometer”
War “Phases”
Hos
tile
Act
ions
Mor
eLe
ss
Car
Military Civilian
Self-DrivingCar
Aircraft “AutoLand”
CARACaS = Autonomy
Autonomous Control - Control Architecture for Robotic Agent Command and Sensing (CARACaS)
“Autonomy in a suitcase”
Demonstration Area
Swarm in Escort
High Value Unit under Escort by 5 USVs
HVU
HSMST
ASV
Swarm in Formation in Escort
COI
ASV
Swarm in the Attack
We’re building Skynet.........
our job is to ensure the robots don’t kill us.
The Terminator Dilemma:
Video and Questions?
ONR – Article and Full Video:http://www.onr.navy.mil/Media-Center/Press-Releases/2014/autonomous-swarm-boat-unmanned-caracas.aspx
Video to play during questions
https://www.dropbox.com/s/lc9on1j3j0qzibb/cnr.mp4?dl=0
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