The long-term goal of this project is to develop autonomous multi- robotsystems that could replace human divers that are currently performing dangerous reconnaissance and mine neutralization missions in the Very Shallow Water and Surf Zone regions. We are focusing on swarms of small Unmanned Bottom- crawling Vehicles (UBVs) for this purpose. For the purpose of reconnaissance, the swarms would augment overhead (optical) systems to provide seamless maps of littoral areas from the VSW up onto the beach. The UBV swarms could perform many additional missions, including target marking, lane marking, neutralization, and surveillance. The principal objective is to develop the essential supporting technologies that will make autonomous UBV swarms viable. These technologies include close-range sensors, detection-classifi cationalgorithms, and underwater communication and navigation 'baseline' systems. The focus is on low cost, low power systems that will fit within a 5000 in. or smaller, expendable platform. Several earlier efforts have proven that vehicles of this size can have the mobility andlength of life required to perform area search, neutralization, and reconnaissance missions. By developing the enabling technologies rather than concentrating on one specific mission, many missions will be possible.


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