Autonomous Undersea Systems Institute

AUSI participation

Solar-powered AUV (SAUV II)

AUSI is currently developing and testing a Solar-powered Autonomous Underwater Vehicle (SAUV II) in partnership with FSI of Cataumet, MA and other members of the MCAUV team. The goal of this program is to develop an AUV system capable of autonomous underwater sampling with long endurance. SAUV II vehicles have been used in several in-water operations, demonstrating technologies including underwater networking and cooperative behavior. This program is funded by the Office of Naval Research.

SAUV II field tests

  • Lake George, NY (Sept, 2007)
  • Panama City, FL (June, 2007)
  • Monterey Bay, CA (July 9-21, 2006)
  • Lake George, NY (May 30-June 9, 2006)
  • AUVFest - Hood Canal, WA (June 6-16, 2005)
  • Lake George, NY (Oct 17-22, 2004)
  • Greenwich Bay, RI (Sept 7/8, 2004)
  • Lake George, NY (June 1-11, 2004)

Highly Accurate Temporal and Spatial Mapping of Coastal Regions Using Long Endurance AUVs

As part of this ONR-sponsored program, researchers from AUSI, the UNH Computer Science Dept. and RPI's Robotics and Automations Lab are investigating technologies required for communication and cooperation among multiple heterogeneous AUVs; they include low-level underwater networking and high-level language protocols, cooperation strategies for adaptive sampling, underwater navigation, and user interface issues inherent in AUV mission planning, monitoring and control. One of the enabling technologies we are currently focusing on is the design of a MAC layer collision handling mechanism which supports ranging as well as communication, while in parallel exploring network protocol designs which extend or replace the AUSNET and COFSNET designs. Testing of this MAC layer with ranging component will occur in simulation to be followed by field testing using the SAUV vehicles. Based upon these results, we plan to design, implement and test a merged MAC-layer/network-layer protocol with ability to support system level inputs (energy, navigation, mission) and support non-trivial gateway functionality such as packet type queuing and store-and-forward. This evolved protocol will provide the communications infrastructure necessary to allow platforms to communicate in an ad-hoc, peer-to-peer manner, while supporting the underlying navigation (ranging) requirement, and permit platform system inputs to optimize efficiency. See the paper Status Packet Deprecation and Store-Forward Routing in AUSNet presented at the First ACM International Workshop on UnderWater Networks (2006) for a discussion on some of these strategies for improved network performance.