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\wikidoc{file=Proj.Perseus}
\wikidoc{auth=mikerb@mit.edu}

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\section*{Perseus - A-Size UUV Swarming}
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The project addresses decentralized collaborative maritime autonomy,
demonstrated through large-scale multi-vehicle distributed simulations
and swarming operations using low-cost A-sized UUVs. The focus of the
Perseus project is on the development of key enabling technologies
required to realize Decentralized Collaborative Marine Autonomy using
low-cost and expendable platforms.  A key technology in this project
is the one-way travel-time (OWTT) inverted ultra-short baseline
(iUSBL) acoustic positioning system first demonstrated by MIT to
enable multi-UUV relative navigation on a fleet of SandShark UUVs
[Rypkema 2019, Fischell 2019]. The OWTT-iUSBL system consists of
vehicle-mounted acoustic receiver arrays that are time-synchronized to
a single acoustic beacon, allowing each UUV to calculate range and
angle to the beacon and triangulate its relative position [Rypkema
  2017]. This approach enables coordinated swarming behaviors such as
maintaining formation [Rypkema 2019]. Although this system is
significantly less expensive than a DVL-aided inertial navigation
system typically used by UUVs, the prototype OWTT-iUSBL made use of a
chip-scale atomic clock (CSAC) and off-the-shelf electronics resulting
in increased cost; further development of the system in this project
will take advantage of recently available electronics and crystal
oscillator technologies to further lower system cost and size. Further
refinement of system algorithms and autonomy will make it more robust
for open-ocean use on A-size UUVs in Submarine Decoy missions, where
multiple vehicles in formation will be used to emulate a larger
target.

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%\section*{Quick Facts}
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\begin{longtable}{|r|p{0.76\textwidth}|} \hline

  \var{Status}: &amp; Ongoing since March 2021 \\ \hline
  \var{Sponsors}: &amp; Lockheed Martin  \\ \hline
  \var{People}: &amp; Nicholas Rypkema, Supun Randeni, Michael Triantafyllou (PI),
  Michael Benjamin (PI)  \\ \hline
  \var{Software:} &amp; MOOS-IvP public codebase, Hydroman \\ \hline
  \var{Robots:} &amp; \urlx{https://oceanai.mit.edu/pavlab/robots/morpheus} \\ \hline
\end{longtable}
\normalsize


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\section*{Relevant Prior Publications}

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