A Distributed Framework for Embedded Collaborative Autonomy

We have designed and implemented a framework for the development and deployment of multi-agent task allocation solutions, with particular awareness of the operational constraints encountered by Unmanned Maritime Systems (UMS). This framework, which we call the Distributed/Decoupled Collaborative Autonomy Framework (D²CAF), is a set of software modules that allow researchers to develop the underlying task allocation algorithms largely independent of engineering concerns (communications, vehicle interface, etc.). The framework is distributed as it provides tools to perform over-the-network (including underwater) communications between instances of the framework hosted on physically disconnected agents. The framework is decoupled in that it realizes an abstract separation between the invocation of a task and its execution. D²CAF has been used in several at-sea campaigns, deployed on real autonomous underwater vehicles (AUVs) promoting the execution of MCM missions.