Autonomous mine hunting mission for the Charlie USV

This paper is focused on the development and at-field testing of a mission control architecture applied to an autonomous mine hunting scenario. In this work the Charlie Unmanned Surface Vehicle (USV) is described, as well as the instrumentation for mine detection; a brief summary of the overall control architecture is given, focusing on the mission control module. The design phase of the mine hunting mission is reported and finally the experimental results of the at-field campaign carried out in the island of Murter (Croatia) are presented.