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Approved for Public Release, Distribution Unlimited Mr. Scott Littlefield, Program Manager DARPA Tactical Technology Office May, 2015 Briefing prepared for the ASNE Intelligent Ships Symposium Anti-Submarine Warfare (ASW) Continuous Trail Unmanned Vessel (ACTUV)

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Purpose:Key Technologies:Metrics: ACTUV Overview 2 Advanced autonomy for highly reliable surface collision avoidance while tracking evasive submarine target. Advanced EO/IR capability Diverse set of ASW sensors for robust track and trail at standoff of up to a few miles New payload technologies Build and demonstrate an unmanned sea surface vehicle with ocean-spanning range, months of endurance, and substantial payload Demonstrate high-level autonomy for independent operations under sparse supervisory control Demonstrate game-changing approach to ASW track and trail mission Demonstrate utility for additional Navy missions Compliance with International Maritime Organization rules for collision avoidance at sea (COLREGS), including vessel classification Propulsive and maneuvering overmatch v. next-generation diesel-submarine threat; high-assurance Endurance and reliability to complete 70+ day mission Unit production cost

Unmanned sea vehicle trade space Vehicle Size (tons) Energy Capacity (GJ) Air-Independent Vehicle Air-Breathing Vehicle Today: Adjunct to manned vessel. Can be launched from a combatant. Sufficient range for local ops. Self deploying vehicles Well deck launch? ACTUV Snorkeling vehicle? Future: Vehicle sized for independent operations. > 10,000 nmi range at 12 knots. Energy comparison: Air- independent line assumes 1000 Whr/kg (ONR BAA goal). SOA for lithium ion batteries is about 200 Whr/kg. Air- breathing line assumes 43 MJ/kg lower heating value for diesel fuel and 30% conversion efficiency. Both assume energy store is 41% of full-load displacement 3 Approved for Public Release, Distribution Unlimited

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Progress 4 Autonomy: Current COLREGS baseline is adequate to start testing on full-scale prototype Major focus now is completion of Integrated Craft Control System Increased emphasis on EO/IR detection and classification Mission Systems: Baseline sensor hardware ready for installation Alternative payloads and CONOPS are being explored Vessel: Construction underway; expect launch late 2015 Planned delivery in 2016 for start of extended test phase Approved for Public Release, Distribution Unlimited

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Autonomy for collision avoidance COLREGS solution based on geometry and target ID Key challenges for ACTUV: Comprehensive world model that includes all surface contacts All weather and sea conditions Wide variety of targets Robust to false contacts and spoofing Implies diversity of sensing approaches Radar, AIS, EO/IR, acoustic Vessel COLREGS classification Sailing, fishing, restricted in ability to maneuver... Implies object recognition including interpretation of lights and day shapes T&E strategy that builds confidence; high-nines reliability Implies extensive data collection and early at-sea integration and testing, augmented by robust modeling and simulation. Builds on prior Navy work EO data collection on vessel of opportunity Early integration of software and topside sensors on surrogate vessel 5 Approved for Public Release, Distribution Unlimited

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Y ACTUV COLREGS Surrogate Testing Results Loiter Area Contact Surrogate Surrogate Testing Round 2 Collision Avoided ( 1km CPA) in All Scenarios 42 Days / 101 Individual Scenarios G1 - complied with the rules, course/speed changes smooth and only as required with no unnecessary movements G2 -complied with the Rules, course/speed changes smooth and limited though maybe unnecessary with no unnecessary movements G3 - complied with Rules, unnecessary course/speed changes and some unnecessary movements Y - did not comply with the Rules and/or too many course/speed changes and/or too many unnecessary or potentially confusing movements # Test Case Title Path Planner Grade Illustration 171Meeting BowNREC G3 271Meeting BowJPL G1 371MMeeting Bow w/ ManeuverNREC Y 471MMeeting Bow w/ ManeuverJPL G1 571TLIMRTransit, Loiter, ManeuverNREC G3 671TLIMRTransit, Loiter, ManeuverJPL G1 732 Crossing Starboard Perpendicular (Own-ship is give way) NREC G2 832 Crossing Starboard Perpendicular (Own-ship is give way) JPL G2 930M Crossing Port Perpendicular with Maneuver (Own-ship is stand-on) NREC G1 1030M Crossing Port Perpendicular with Maneuver (Own-ship is stand-on) JPL G1 1162 Crossing Starboard Ahead (Own-ship is give way) NREC G2 1262 Crossing Starboard Ahead (Own-ship is give way) JPL G2 1354Being OvertakenNREC G1 1454Being OvertakenJPL G1 1564Overtaking StarboardNREC 1664Overtaking StarboardJPL INC 174 Crossing Starboard (Own-ship is give way) NREC G3 184Crossing Starboard (Own-ship is give way) JPL G3 Approved for Public Release, Distribution Unlimited

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COLREGS On-water Testing Oblique Crossing Situation 7 Approved for Public Release, Distribution Unlimited

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www.darpa.mil 8 Approved for Public Release, Distribution Unlimited