Page 18: of Marine Technology Magazine (September 2019)

Autonomous Vehicle Operations

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Robotics in Defense

CMRE adapted another Blue? n-21 as a collaborative autonomy test bed — named Black CAT — to demonstrate D2CAF by having MUSCLE and Black CAT work together. MUSCLE has an acoustic Doppler current pro? ler that detects current direction and velocity, and can reprogram its search patterns to account for currents. Black CAT, which hosts a version of D2CAF and is used for reacqui- sition, is equipped with a Teledyne Blueview 900 forward-looking sonar (FLS), optical camera, Blueview 2.25MHz multi-beam 3D sonar, and ARIS camera.

CMRE also has a pair of Konsgberg Hydroid REMUS 100 vehicles with sidescan sonar and multi-beam echosounder (MBES) for reacquisition, and an IQUA Ro- botics SPARUS UUV with ARIS for reacquisition and simulated neutralization.

The MUSCLE and BLACK CAT UUVs on board NRV Alliance prior to participation in GAMEX’17.


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