AMN ExperimentationTrident Warrior ‘10

Trident Warrior 2010 (TW10)OVERVIEWTRIDENT WARRIOR (TW) is the premier annual FORCEnet Sea Trial Fleet experimentation event that executes a series of operational experiments involving fleet assets (at sea and ashore). TW provides the Navy with a quality venue to experiment with technologies in a maritime environment that could potentially provide near-term solutions to enhance warfighting capabilities and fill capability gaps. Ultimately, TW is designed to accelerate the delivery of new/improved capabilities to the warfighter through Program of Record (POR) acceleration or transition of new technologies into PORs.

AMN TW10 CONOPSNECC is sponsoring AMN to assess and demonstrate improved C3 capabilities, situational awareness, and force protection for its Echelon IV units. MSRON-3 C2 Det will set up a MAST tent with associated SHF communications gear that will integrate with the Joint Expeditionary C3 (JEC3) system to correlate multiple sensor inputs – on land and at sea - and produce a robust common operational picture. Autonomous Maritime Navigation (AMN) system which will be conducting surveillance missions in the San Diego Bay OPAREA in the vicinity of Point Loma/North Island.

AMN TW 10 Objectives• Overarching Objective:

• Demonstrate autonomous flexibility by converting a standard Navy RHIB into an autonomous USV capable of cooperative autonomy in order to provide persistent surveillance and relevant information to the expeditionary commander via an adhoc expeditionary WAN.

• Sub-objectives• Demonstrate multiple USVs are capable of accomplishing

assigned mission(s) by executing flexible and sufficient cooperative autonomy mission behaviors

• Demonstrate autonomous USVs can provide persistent surveillance and locate, identify and track contacts in accordance with assigned mission.

• Demonstrate an autonomous USV capable of providing relevant, timely and accurate information to the expeditionary EC3 via an adhoc expeditionary WAN.

• Demonstrate the flexibility of AMN sensor and autonomous capability by converting a standard Navy RHIB into an autonomous USV.

Autonomous Maritime Navigation (AMN)

OPERATIONAL NEED

• Objective: Transition AMN autonomous control system module and multi-purpose sensor system for Navy Expeditionary Combat Command (NECC) autonomous USV operations (solo or cooperative) using existing and purpose built small boat inventory.

• Value to Warfighter: Persistent ISR capability with no risk to personnel, reduction in required manpower and bandwidth costs over remote control operations.

PROPOSED SOLUTION

• Technology: NASA Jet Propulsion Laboratory (JPL) robotics technologies and advanced algorithms for autonomous platform systems management, operation, and navigation, operational software and COTS/GOTS portable sensors.

• Partners: NASA JPL, Marshall University, NSWCCD Carderock, OSD OFT, Spatial Integrated Systems

• Similar Related products: No similar known fully autonomous USV. Many remote controlled, man in the loop USVs under development.

CAPABILITIES

• Full autonomous capability for any Unmanned Surface Vessel (USV) enabled by an adaptable sensor module and an autonomy and fusion module- Flexible Modules: Variable sensor mix and ruggedized container sizes- Can make any vessel a USV in days

• Use existing boat inventories

• Adapt sensors and autonomous behaviors to fit operational needs

AMN #1

AMN #2

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Joint Expeditionary Command, Control and Communications(JEC3)

Autonomous Maritime Navigation (AMN)

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DATES ACTIVITY LOCATION

24-27 May AMN Testing w/ MSRON-3 Boats San Diego Bay OPAREA

1 June Setup JEC3 and AMN C2 Batt. Humphrey/OPAREA

2-4 June JEC3 End-to-End Test/AMN Test Batt. Humphrey/OPAREA

2-4 June JEC3 Classroom Training/OJT Imperial Beach

7-11 June TW10 Execution Batt. Humphrey/OPAREA

11 June DV Day (AM) Batt. Humphrey)

TW10 Schedule of Events

NECC (5)CAPT Glenn Allen (N9)Mr. Dale Shiflett (Deputy N9)Mr. Jim Fowler (SA)Mr. Tom Scheurich (N9 C4I)Mr. Eric Alegre (N9 T&E)

TW (5)RADM Gerald Beaman (USFFC N3/5/9)

Mr. Skip Hiser (USFFC SES)CDR Robert Nowakowski (NCAG)NPS Data Collectors

NSWC Dam Neck (3)C2 Study Assessors and JEC3 SMEs

TW10/NECC ParticipantsMSRON-3 (~15)Daily C2 OperatorsSet-up/Breakdown Personnel

ESU-1 (~3)Daily C2 Operators

Ratheon-Solypsis (4)Mr. Barry HertsgaardMr. Jeremy HurleyMr. Boris RasputnisMr. Rob Harris

AMNCDR Michael Junge (OSD OFT)Mr. Eric Hansen (NSWCCD)Mr. Kim Sage (NSWCCD)CAPT Rick Simon, USN, RetMr. Dave Summer

AMN TW 10 Missions

Fixed Oparea Patrol Mission with Gatekeeper

Fixed Oparea Patrol Mission with Gatekeeper

Mission:• AMN “A Fixed area patrol• Detect, track and report• AMN B will track and block anyIntruder in gatekeeper box• AMN A & B will swap missionsvia cooperative autonomy basedon tactical situation

• 6 hour missions on 7 and 8 June

• Objectives:• Persistent surveillance• Cooperative autonomy• Feed real time CTP at JEC3

Track and Block

Detect, track and Report

Expeditionary Base / JEC3

A

B

Gatekeeper

High Value Unit (HVU) Escort Mission

Mission:• AMN A and B escort HVU via an open oceanand chokepoint transit• AMN A and B will track and block any intrudercoming within 500 yds of HVU but 1 AMN must remain with HVU at all times• AMN A and B will swap missions as tacticalsituation detects i.e 1 AMN will interceptwhile second AMN continues escort and when intercept and blocking complete, AMN rejoin escort mission

• Escort missions run on 9 and 10 June A B

HVU

Successfully demonstrated cooperative autonomy◦ Oparea Patrol / Gatekeeper Mission

16 mission swaps◦ High Value Unit Escort

29 Sector shifts 47 Blocks

Successfully fed contacts to common tactical picture◦ AMN tracks were displayed in Link 16 final day◦ Improved steadily day to day

Quicklook Results

TW 10 Cooperative Behavior Plan

Rick SimonDirector, SIS30 April 2010

NECC has multiple missions and operational needs that would be drastically enhanced with the implementation of USVs. AMN is an autonomous system, able to turn a manned surface craft into an unmanned craft, which has the potential capabilities to meet several NECC mission needs.

Purpose

◦ Successfully demonstrate the capability to pass data to an expeditionary C2 node (through EC3) providing greater situational awareness in real-time

◦ Demonstrate persistent surface surveillance capability Locate and track targets of interest for classification and threat

identification◦ Cooperative complex autonomous behavior between two AMN

USVs Harbor patrol activity, deter and/or engage unwanted vessels Autonomous escort of high value asset through a choke point

location◦ Successfully demonstrate the expeditious installation of AMN

on a Navy craft (NECC type vessel)◦ Successfully demonstrate the addition of new sensors,

expanding to the systems’ capabilities

Objectives

Griffin / AMN will participate in TW10, 7-11 June in the SOCAL OPAREA during the TW10 MDA initiative demonstration period. Two missions will be conducted. Each mission will be repeated on consecutive days to ensure adequate data is collected.◦ Mission 1: 09-1500 local 7 June & 09-1500 8 June◦ Mission 2: 10-1400 local 9 June & 10-1400 10

June◦ 11 June is backup day: weather / mechanical

AMN MISSIONS AT TW10

Fixed OPAREA patrol and goalkeeper / blocker for expeditionary base (6 hours)

Demonstrate harbor patrol activity Persistent surface surveillance, as a subset of

ISR Real-time tactical picture with usable data for

situational awareness and tactical responses Blocking and deterring behavior

MISSION DETAILS – Mission 1

High value asset (HVA) littoral escort in a choke point area (4 hours)

Demonstrate escort capability Exhibit roles in choke point area while

escorting Real-time tactical picture with usable data for

situational awareness and tactical responses Blocking and deterring behavior

MISSION DETAILS – Mission 2

TW 10 Cooperative Harbor Patrol Blocking Behavior

Plan - Original (Goalkeeper)

Initial Positions – One USV patrolling outer area,

one in goal area

Intruder - Nearest USV blocks. If in outer area, patrolling USV blocks.

Intruder - Nearest USV blocks. If Intruder is nearest to Goalkeeper USV, then ‘Goalie’ blocks

and patrolling USV moves to ‘Goalie’ position.

If two Intruders, both USV’s block in goal box.

TW 10 Cooperative Harbor Patrol Blocking Behavior

Plan - Optional

Initial Positions – Spaced evenly within the Security Area

Shore- Protected Area

Intruder enters - Closest USV moves to block (hold position 200m closer to Shore than Intruder),

Untasked USV moves to Center

Shore- Protected Area

Second Intruder enters – Untasked USV moves to block, Second USV continues to block

Shore- Protected Area

USV’s continue to block until their Intruder leaves the area

Shore- Protected Area

Once USV’s are free, they return to Center Point (if one free) or

equally spaced points (if both free)

Shore- Protected Area

TW 10 Cooperative HVU Escort transiting Choke

Point Behavior Plan

Column formation for channel transit, hold 200m distances for leader and

follower (no blocking)

Upon channel exit, Escort USV’s assume

line abreast formation (3 and 9 o’clock positions) at 200m

When Intruder approaches within 500m of HVU, nearest USV moves to block (keeps 200m distance

from HVU), untasked USV moves opposite

When two Intruders approach within 500m of HVU, both USV’s block (still

maintaining 200m from HVU)

TW 10 Playbook for Fixed Oparea Patrol Mission

Initial Morning Setup

A1

A2

A = Aggressor BoatGK = GoalkeeperP – Patrol

GK

P

North

South

W E

HVU

Run Alpha – A1 enters, P blocks; A2 enters, GK blocks in secure area; A1 departs box, A2 retires and stays in outer box causing GK to move out of secure area and continue blocking

which transitions P to GK

A1

A2

A = Aggressor BoatGK = GoalkeeperP – Patrol

GK

P

North

South

W E

HVU

#1

#2

#3 #4

#6

#5

Run Bravo – A2 enters box, GK moves to block and causes P to transition to GK; A1 enters and new GK (old P) blocks inner

secure area; A2 retires; A1 retires

A1

A2

A = Aggressor BoatGK = GoalkeeperP – Patrol

GK

P

North

South

W E

HVU

#2

#1

#3

#4

Initial Afternoon Setup

A1

A2

A = Aggressor BoatGK = GoalkeeperP – Patrol

GK

P

North

South

W E

HVU

Run Charlie– A1 enters, P blocks; A2 enters, GK blocks; A1 departs box, A2 retires and stays in outer box causing GK to

move out of secure area and continue blocking which transitions P to GK

A1

A2

A = Aggressor BoatGK = GoalkeeperP – Patrol

GK

P

North

South

W E

HVU

#1

#5

#6

#4

#3

#2

Run Delta– A2 enters box, GK moves to block and causes P to transition to GK; A1 enters and new GK blocks inner secure

area; A2 retires; A1 retires

A1

A2

A = Aggressor BoatGK = GoalkeeperP – Patrol

GK

P

North

South

W E

HVU

#2

#1

#3

#4

Playbook for TW 10 Cooperative HVU Escort

transiting Choke Point Mission

Column formation for channel transit, hold 200m distances for leader and

follower (no blocking)

Upon channel exit, Escort USV’s assume

line abreast formation (3 and 9 o’clock positions) at 200m

Run Alfa: Both target boats approaching from 1 side off the bow of

HVU

A 1A 2

A = Aggressor BoatUSV = Powervent / 11M RHIBHVU = Escorted vessel

USV 2

USV 1

HVU

Run Bravo: Target boats approaching from either side off the bow of HVU

A 1

A 2 USV 2

USV 1

HVU

A = Aggressor BoatUSV = Powervent / 11M RHIBHVU = Escorted vessel

Run Charlie: Target boats approaching from directly off the bow of HVU

A 1

A 2

USV 2

USV 1

HVU

A = Aggressor BoatUSV = Powervent / 11M RHIBHVU = Escorted vessel

Run Delta: Target boats approaching from directly off the beam of HVU

A 1

A 2

USV 2

USV 1

HVU

A = Aggressor BoatUSV = Powervent / 11M RHIBHVU = Escorted vessel

Run Echo: Both target boats approaching from 1 side off the quarter

of HVU

A 1

A 2

USV 2

USV 1

HVU

A = Aggressor BoatUSV = Powervent / 11M RHIBHVU = Escorted vessel

Run Foxtrot: Target boats approaching from either side off the quarter of HVU

A 1

A 2USV 2

USV 1

HVU

A = Aggressor BoatUSV = Powervent / 11M RHIBHVU = Escorted vessel

Run Golf: Target boats approaching from directly astern of HVU

A 1

A 2

USV 2

USV 1

HVU

A = Aggressor BoatUSV = Powervent / 11M RHIBHVU = Escorted vessel