부산대학교 도서관

This paper aims to share contributions and results of the REPMUS22 large-scale unmanned vehicle exercise to the marine robotics community, of which Underwater Systems and Technology Laboratory (LSTS) took part. Seven exercises were planned and we deployed a command, control, and communications center (C3) called the Ocean Space Center (OSC) to oversee the operations. We explain the setup and main goals for each exercise and how they were achieved.The Collaborative Autonomous Tasking Language (CATL) [1] was a persistent subject during the two weeks of the exercise. It proved to be a facilitator in terms of operability, coordination, and communication among the teams involved.Light Autonomous Underwater Vehicles 1 (LAUVs) were used in the majority of the mapping exercises, including the Mine-Counter Measure and Distressed Submarine exercises, the LS SARUMS EDA Sense & Avoid Experiment, and a demonstration exercise carried out by the CoMAP project, where one LAUV from OceanScan-MST joined Maritime Robotics’ Otter ASV 2 .In addition, a long-endurance LAUVs class was deployed in the open sea from the coast to conduct a offshore survey without any support vessel as part of the SINES exercise. This exercise tested the command and control part of the LSTS toolchain and the logistical side of this type of operation.Additionally, WAVY 3 drifters were deployed from an AIRBUS unmanned aerial vehicle to test their endurance and robustness. These tests repeatedly showed that the drifters are physically robust and can be deployed in this way while recording data properly.Overall, the REPMUS22 exercises highlighted the effectiveness of CATL in enhancing communication and coordination between teams and the versatility and robustness of the LSTS toolchain in operating marine/maritime robotic technologies in a range of exercises and scenarios.