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CMRE-PR-2019-137.Pdf (1.456Mb) SCIENCE AND TECHNOLOGY ORGANIZATION CENTRE FOR MARITIME RESEARCH AND EXPERIMENTATION Reprint Series CMRE-PR-2019-137 Experiments in multi-vehicle operations: the Rapid Environmental Picture Atlantic exercise 2014 João Borges de Sousa, João Pereira, João Alves, Madaleno Galocha, Baptista Pereira, Claro Lourenço June 2019 Originally published in: OCEANS 2015, 18-21 May 2015, Genoa, Italy, doi: 10.1109/OCEANS-Genova.2015.7271761 About CMRE The Centre for Maritime Research and Experimentation (CMRE) is a world-class NATO scientific research and experimentation facility located in La Spezia, Italy. The CMRE was established by the North Atlantic Council on 1 July 2012 as part of the NATO Science & Technology Organization. The CMRE and its predecessors have served NATO for over 50 years as the SACLANT Anti-Submarine Warfare Centre, SACLANT Undersea Research Centre, NATO Undersea Research Centre (NURC) and now as part of the Science & Technology Organization. CMRE conducts state-of-the-art scientific research and experimentation ranging from concept development to prototype demonstration in an operational environment and has produced leaders in ocean science, modelling and simulation, acoustics and other disciplines, as well as producing critical results and understanding that have been built into the operational concepts of NATO and the nations. CMRE conducts hands-on scientific and engineering research for the direct benefit of its NATO Customers. It operates two research vessels that enable science and technology solutions to be explored and exploited at sea. The largest of these vessels, the NRV Alliance, is a global class vessel that is acoustically extremely quiet. CMRE is a leading example of enabling nations to work more effectively and efficiently together by prioritizing national needs, focusing on research and technology challenges, both in and out of the maritime environment, through the collective Power of its world-class scientists, engineers, and specialized laboratories in collaboration with the many partners in and out of the scientific domain. Copyright © IEEE, 2015. NATO member nations have unlimited rights to use, modify, reproduce, release, perform, display or disclose these materials, and to authorize others to do so for government purposes. Any reproductions marked with this legend must also reproduce these markings. All other rights and uses except those permitted by copyright law are reserved by the copyright owner. NOTE: The CMRE Reprint series reprints papers and articles published by CMRE authors in the open literature as an effort to widely disseminate CMRE products. Users are encouraged to cite the original article where possible. CMRE Reprint Series CMRE-PR-2019-137 Experiments in multi-vehicle operations: the Rapid Environmental Picture Atlantic exercise 2014 Joao˜ Borges de Sousa Joao˜ Alves Madaleno Galocha, and Joao˜ Pereira NATO STO Centre For Maritime Baptista Pereira and Laboratorio´ de Sistemas e Tecnologias Research and Experimentation Claro Lourenc¸o Subaquaticas,´ Faculdade de Engenharia Viale San Bartolomeo 400, Marinha Portuguesa da Universidade do Porto 19126 La Spezia (SP), Italy R. do Arsenal 1149-001 Lisboa, Portugal Rua Doutor Roberto Frias, Email: [email protected] Email: [email protected], 4200-465 Porto, Portugal [email protected], Email: [email protected], [email protected] [email protected] Abstract—The paper describes the Rapid Environmental Pic- exercise jointly organized by the Portuguese Navy and Porto ture Atlantic exercise 2014 (REP14-Atlantic), with special focus University, through the Laboratorio´ de Sistemas e Tecnologias on the experiments with autonomous underwater, surface and Subaquaticas´ (LSTS), since 2010. air vehicles, and discusses how large scale experimentation in operational environments is contributing to advancing the state The first edition of the REP experiment took place in of the art in networked vehicle systems. REP14-Atlantic was also 2010 off the coasts of Sesimbra and Sines in Portugal. The focused on collaborative experimentation to advance interoper- experiment included, in addition to the Portuguese Navy ability, underwater communications and disruption/delay tolerant and LSTS, the following: Naval Undersea Warfare Cen- networking (DTN) capabilities, automation and cooperation of ter (Newport, USA), SeeByte (Edinburgh, United Kingdom), unmanned underwater, surface and aerial vehicles. In addition some of these vehicles had deliberative planning capabilities on- OceanScan MST (Porto, Portugal), OceanServer Technology board for unprecedented levels of autonomy. Deliberative plan- (Fall River, Massachusetts) and YSI (Yellow Springs, Ohio). ning techniques were also used to support coordinated planning The experiment was targeted at assessing the endurance and and execution control of multiple vehicles. performance of the Light Autonomous Underwater Vehicle (LAUV) Seacon (developed by LSTS), evaluating and testing the coordinated operation of multiple Autonomous Underwater I. INTRODUCTION Vehicles (AUVs) from the Portuguese Navy (Gavias from Field experimentation is an important phase of the un- Teledyne Gavia), NUWC (Iver2 from OceanServer) and LSTS manned vehicle systems life cycle. First, the unmanned ve- (Seacon), extending the communication range of autonomous hicles field is relatively new, but it is evolving quite fast, vehicles with fixed and mobile gateways, validating remotely especially in some categories. Second, the distribution of cost sensed data, and testing ship and shore launching and recovery across acquisition, operation, and support categories differs of AUVs. The 2011, 2012 and 2013 editions of the REP significantly from that of manned vehicles, making it difficult experiment took place in the same operational areas with to transfer procedures and techniques used for manned vehicles additional participants from Norway and Sweden. The scope to the unmanned vehicles field. Third, new concepts of op- of the exercise has been extended to other areas and the eration, namely those involving coordination and cooperation complexity of the experiments has been evolving towards of unmanned vehicle systems are still being developed, ( [4], operational use ( [5], [14]). [9], [18]), and this cannot be done without an appropriate The fifth edition of the Rapid Environmental Picture At- integration and evaluation framework. For example, the eco- lantic (REP14-Atlantic) exercise took place in July 2014 at the nomics of coordination and cooperation of unmanned vehicle Lisbon Naval Base and off the coasts of Sesimbra and Sines in systems is still poorly understood. Fourth, a significant percent- Portugal. The exercise was jointly organized by the Portuguese age of commercially available unmanned vehicles are closed Navy, the CMRE (NATO STO Centre For Maritime Research systems, thus precluding integration and experimentation with and Experimentation), and the University of Porto. heterogeneous vehicles. Field experimentation is even more difficult with ocean going vehicles. This is because access to CMRE is NATO’s maritime hub for research and devel- the ocean is very expensive and highly dependent on weather- opment. CMRE conducts relevant, state-of-the-art scientific sea conditions. Collaborative experimentation is part of the research in ocean science, modeling and simulation, acous- answer to this problem. Once ships and other support assets tics and other disciplines. CMRE also provides Science & are at sea, concurrent experiments can be typically supported Technology enhancements to unmanned vehicles and ves- for several weeks. In addition, multiple assets from different sels, integrated defence systems, and autonomous intelligent institutions coming from different countries can be tested in an systems that better enable operators to complete missions integrated fashion and on a scale that is not typically accessible in hostile environments. In the particular scope of REP14- to any institution working in isolation. This is the main Atlantic, CMRE was involved in two main fronts: Testing of motivation behind the Rapid Environmental Picture (REP) Anti-Submarine concepts employing networked autonomous 1 CMRE Reprint Series CMRE-PR-2019-137 vehicles and development of underwater communications tech- II. EXERCISE OVERVIEW nologies including testing of candidate standard protocols. A. Ships The Laboratorio´ de Sistemas e Tecnologias Subaquaticas´ The exercise involved three Navio da Republica´ Portuguesa (LSTS) at the Faculty of Engineering from Porto Univer- (NRP) ships from the Portuguese Navy and one NATO re- sity has been designing, building and operating unmanned search vessel. underwater, surface and air vehicle systems for innovative NRP Arpao˜ - Portuguese Navy The NRP Arpao˜ was built applications with strong societal impact since it was estab- in the shipyards of HDW (Kiel, Germany), the second of the lished in 1997. In 2006 the LSTS received the national BES two submarines of the Trident class. Since its rise to effective, Innovation National Award for the design of the Light AUV. in 22 December 2010, it has performed surveillance missions The LSTS has been involved in fostering and growing a maritime area of national interest, participated in national and world-wide research network in the area of networked vehicle NATO exercises and incorporated in 2012, the Standing NATO systems with yearly conferences and workshops, and, more Maritime Group 2, under which participated in operation recently, with large scale
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