Automated scheduling and mission visualization for mine countermeasure operations

We present a novel schedule optimization framework to plan tasks for multiple unmanned surface vessels (USVs) and unmanned underwater vehicles (UUVs) performing a mine countermeasure (MCM) mission. The framework employs mixed-integer linear programming (MILP) to determine efficient schedules. In the framework, the USVs are capable of transporting the UUVs, processing contact information, and neutralizing targets. The UUVs perform survey as well as reacquire and identify (RI) operations. Additionally, we present a novel MCM mission visualizer. The goal of the visualizer is to display in 3D an entire planned MCM scenario for use in scenario evaluation as well as provide a detailed multi-vehicle testing platform for MCM-related vehicle and autonomy research and development.