Fiscal Year	2015
Division	Research & Sponsored Programs
Department	Naval Research Program
Investigator(s)	Du Toit, Noel E.
Sponsor	NPS Naval Research Program (Navy)
Summary	Historically, maritime Autonomous Underwater Vehicle (AUV) development has focused on long-range, open-ocean applications. However, a large number of applications, particularly for Naval Special Warfare (NSW) missions, require operation close to objects (e.g., the seafloor, ships, submarines, submerged structures, other AUVs, and even divers). This study will investigate the use of agile, hover-capable AUVs during NSW operations. Ongoing research at the Naval Postgraduate School (NPS) is focused on developing an agile, hover-capable AUV (called ACQUAS) that is suitable for operations in close proximity to any or all of the above (close quarters operations). Continued research is required in precise platform control and dynamic stabilization, precision terrain-relative navigation, 3D mapping and obstacle avoidance, joint diver-robot operations with autonomous and semi-autonomous modes of operation, and autonomous intervention. Building on ongoing efforts, this effort will specifically investigate deploying and recovering ACQUAS from an underwater vehicle (e.g., SEAL Delivery Vehicle, SDV) in support of NSW missions. Through this program, students will have the opportunity to research the challenges associated with proximal AUV operations, including control, terrain-relative navigation, 3D mapping and obstacle avoidance, and intervention.
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Publications	Publications, theses (not shown) and data repositories will be added to the portal record when information is available in FAIRS and brought back to the portal
Data	Publications, theses (not shown) and data repositories will be added to the portal record when information is available in FAIRS and brought back to the portal