SYSTEM AND METHOD FOR DECENTRALIZED, MULTI-AGENT UNMANNED VEHICLE NAVIGATION AND FORMATION CONTROL

摘要

A system and method for a USV fleet is disclosed that can execute autonomous path-planning in an A2/AD environment, where communication reach back to a base station for instruction or Positional, Navigation, and Timing (PNT) data is not assured. This process has the ability to adapt considering the failure and intermittent connection of the ad-hoc USV-to-USV data network. This process also has the ability to continue operation considering the failure of any or all communications between members and is immediately prepared for reconnection should failures occur.