Coordinated Operation of Multiple AUVs using the LSTS Toolchain

This paper presents recent software developments which allow the coordination of multiple AUVs over highlatency and low-bandwidth satellite communications. These developments span over multiple components of the LSTS toolchain: protocols, onboard plan execution and adaptation, satellite communications and temporal planning. The developments have been recently put to test in the middle of the Pacific Ocean where a fleet composed of 7 AUVs, 3 UAVs and 3 ASVs was used to map the Sub-Tropical Front while operated from two base stations: one onboard the R/V Falkor oceanographic ship and another at Portugal mainland.