IEEE Oceanic Engineering Society
Autonomous Underwater Vehicles 2004
AUV 2004
Sebasco Harbor Resort, Sebasco Estates, Maine
Thursday, 17 June 2004
7:00AM
Registration: Main Deck Lobby
Continental Breakfast: Main Deck
8:00AM
Welcome: Main Deck
Claude Brancart, General Chairman, AUV 2004
Edgar An, Technical Chairman, AUV 2004
8:15AM
Session I: Multiple UUV Systems
Facilitator: Justin Manley, Lead Ocean Engineer, Mitretek Systems/NOAA Office
of Exploration
8:15AM
Design Elements of a Small Low-Cost Autonomous Underwater Vehicle for Field
Experiments in Multi-Vehicle Coordination
Daniel J Stilwell, Aditya S. Gadre, Caleb A. Sylvester, Christopher J. Cannell, Virginia
Polytechnic Institute and State University, Blackburg, Virginia
8:45AM
Multi-AUV Based Cooperative Observations
Soncheol Yu, University of Hawaii, Honolulu, Hawaii; Tamaki Ura and Yoshiake Nose,
University of Tokyo, Japan
9:15AM
A Notional Scenario for the Use of Unmanned System Groups in Littoral Warfare
Steve Castelin and Phil Bernstein, Naval Surface Warfare Center – Panama City,
Panama City, Florida
9:45AM
AUV 2004 Agenda
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Multiple AUV Missions, and Challenges, in the National Oceanic and Atmospheric
Administration
Justin Manley, Lead Ocean Engineer, Mitretek Systems/NOAA Office of Ocean
Exploration
10:15AM
Break
10:30AM
Lane Finding Using Homogeneous Groups of Cooperating Autonomous Vehicles
Signe Redfield, Naval Surface Warfare Center – Panama City, Panama City, Florida
11:00AM
COLREGS Navigation in Unmanned Marine Vehicles
Michael Benjamin, PhD, Massachusetts Institute of Technology, Department of Ocean
Engineering and Naval Underwater Weapons Center – Newport, Newport, Rhode Island
11:30AM
A Leader-Follower Algorithm for Multiple AUV Formations
Dean B. Edwards, Tom Bean, Michael J. Anderson, University of Idaho, Moscow, Idaho,
and Doug Odell, NSWCCD-ARD, Bayview, Idaho
12:00 Noon
Autonomous UUV Control Via Decentralized Algorithms
Keith Sullivan, System Planning and Analysis, Inc. Alexandria, Virginia
12:30 PM
Lunch: Cornelius Room
1:30PM
Session II: Multiple UUV
Navigation and Communication
Facilitator: Ralf Bachmayer, Institute for Ocean Technology, National Research
Council, Canada, St. John’s, NL, Canada
1:30PM
Navigation and Control of Multiple Gliders in an Underwater Acoustic Network
R. Bachmayer, Institute for Ocean Technology, National Research Council, Canada, St.
John’s, NL, Canada; J. A. Rice, R. Creber, and C. Fletcher, SPAWAR Systems Center,
San Diego, California
2:00PM
Experimental Validation of the Moving Long Base-Line Navigation Concept
Jerome Vaganay and J. Scott Wilcox, Bluefin Robotics Corporation; John Leonard,
Joseph Curcio, Massachusetts Institute of Technology
AUV 2004 Agenda
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2:30PM
Robust Beacon Localization with Range-Only Measurements
Edwin Olson, John Leonard, Seth Teller, Massachusetts Institute of Technology
Computer Science and Artificial Intelligence Laboratory, Cambridge, Massachusetts
3:00PM
A special presentation by Tamaki Ura on the AUV r2D4 dive on NW1 Rota Knoll in
May /June 2004.
3:30PM
Break
3:45PM
Simulating Communication During Multiple AUV Operations
Edward A. Carlson, Edgar An, Pierre-Philippe Beaujean, Department of Ocean
Engineering, Florida Atlantic University, Dania, Florida
4:15PM
Autonomouus Undersea Systems Network: Protocols for Ad-Hoc Undersea
Networks
Charles J. Benton, James Kenney, Sai Sharan Mupparapu, Robert Nitzel, Technology
Systems, Inc., Wiscasset, Maine
4:45 PM
Discussions
5:45PM
Break
6:30PM
Social : Sebasco Harbor Resort Pool Lawn
7:30PM
Gala Banquet: Sebasco Harbor Resort Pool Lawn
Friday, 18 June 2004
7:00AM
Continental Breakfast: Main Deck
8:00AM
Guidance: Main Deck
Claude Brancart, General Chairman, AUV 2004
Edgar An, Technical Chairman AUV 2004
AUV 2004 Agenda
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8:15AM
Session III: Multiple UUV
Control and Sampling
Facilitator: Brett Hobson, Director, Ocean Engineering, Nekton Research, LLC,
Durham, North Carolina
8:15AM
Use of Wireless Local Area Networks for Multi-UUV Control
Douglas P. Horner, Anthony J. Healey, Center for AUV Research, Naval Postgraduate
School, Monterey, California
8:45AM
Talk Amongst Yourself: Getting Multiple UUVs to Cooperate
Christiane N. Duarte, Naval Undersea Warfare Center – Newport, Newport, Rhode
Island; Dr. Eugene Eberbach, Computer and Information Science Department &
Graduate School of Marine Sciences and Technology, University of Massachusetts, North
Darthmouth, Massachusetts ;Christine Buzzell, Graduate School of Marine Sciences and
Technology, University of Massachusetts, North Darthmouth, Massachusetts, and
Gerald Martel, Naval Undersea Warfare Center – Newport, Newport, Rhode Island.
9:15AM
Self-Organization and Reorganization of Multi-AUV Systems: CODA Project
Overview
Roy Turner, Elise Turner, University of Maine, Orono, Maine
9:45AM
Open discussions
10:15AM
Break
10:30AM
Multi-UUV Dynamic Perimeter Surveillance
Mathieu Kemp, Nekton Research LLC, Durham, North Carolina; Andrea Bertozzi and
Daniel Marthaler, University of California, Los Angeles, Department of Mathematics
11:00AM
Adaptive Sampling Algorithms for Multiple Autonomous Underwater Vehicles
Dan Popa, Rensselear Polytechnic Institute, Troy, New York; Sai Mupparapu, Richard
Blidberg, Steven Chappell, and Richard Komerska, Autonomous Undersea Systems
Institute (AUSI), Lee, New Hampshire; Arthur Sanderson, Rensselaer Polytechnic
Institute, Department of Electrical, Computer and Systems Engineering, Troy, New York
AUV 2004 Agenda
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11:30AM
Autonomous Systems Monitoring and Control (ASMAC) – An AUV Fleet
Controller
Sai S. Mupparapu, Richard Blidberg, Steven Chappell, Richard Komerska, Autonomous
Undersea Systems Institute, Lee, New Hampshire; Robert Nitzel and Charles Benton,
Technology Systems, Inc., Wiscasset, Maine; Don Popa and Arthur Anderson, Rensselaer
Polytechnic Institute, Troy, New York
12:00 Noon
A Simulation Tool to Support the Development of Adaptive Sampling Algorithms
for Multiple Autonomous Underwater Vehicles
Christopher J. Cannell, Virginia Polytechnic Institute and State University; Daniel J.
Stilwell, Virginia Tech; and Jay A. Austin, Old Dominion University
12:30PM
Design and Implementation of Multi-AUV Control Methodologies for Adaptive
Sampling in a Dynamic and Uncertain Environment
Naomi Ehrich Leonard, Mechanical and Aerospace Engineering, Princeton University,
Princeton, New Jersey; Ralf Bachmayer, National Research Council, Institute for Ocean
Technology, St John’s, NL, Canada; Pradeep Bhatta, Edward Fiorelli, Derek Paley,
Spring Breman, Mechanical and Aerospace Engineering, Princeton University,
Princeton, New Jersey; and David Fratantoni, Woods Hole Oceanographic Institute,
Woods Hole, Massachusetts.
1:00PM
Lunch: Cornelius Room
2:00PM
Session IV: Where Are We
Going? Vision, Challenges, and Milestones
Facilitator: R. Dick Blidberg, Autonomous Underwater Systems Institute, Lee, New
Hampshire
2:00PM
Ground rules for open discussion on “Where Are We Going”
5:00PM
Wrap-Up and Conclusions
6:00PM
Adjourmment
AUV 2004 Agenda
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AUV 2004 Agenda
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