Control LogicLogicCommunication

Module

Receive Message Transmitted

Message Communication Module

Translated Message

Translated Message

• Each Vehicle Has a Communication Port– Receives Binary and Converts it To a Message

– Takes Transmitted Message and Converts it To Binary

• Logic Takes Actions or Produces Outgoing Message Based off The Incoming Messages

Communication

Message Out Binary

ALWSE Communication

Module

Message In Binary

Vehicle Received Script

Message In

Vehicle Logic

Message Out

Vehicle Transmission

Outgoing binary message

Adds time delay: transmission and deliveryInduces errorTakes binary message from transmitting vehicle and puts it into the inbox for the other vehicle

Incoming binary message

Converts the binary number into message that the logic understands

Message

Processes message and makes appropriate actions or outgoing messages

Outgoing message

Converts outgoing message into binary

Vehicle Memory

• Each Vehicle Needs to Have a Memory– Extra Resources– Waypoint Pattern for All The Vehicle– Status of Each Vehicle and Where They Are in The Formation– Location and Types of Mines Found

• This Does Not Make The Mission Dependent on One Vehicle

• Allows any Vehicle to Become The Leader

Terminology

Leader

Swimmer 2

Swimmer 3

Follower

• Each Vehicle has a Vehicle id and a Vehicle #.– The Vehicle # is The Serial # for the Vehicle and Stays Constant

– The Vehicle id Signifies What Logic Scheme The Vehicle Uses

– When a Vehicle Replaces Another, The Vehicle id Changes.

• Assuming Initial Task and Vehicle id is Given by the TC• All the Vehicles have The Same Logic

Vehicle LogicGet Vehicle ID and Initial

Task, (From TC)

Then

Leader Logic Swimmer Logic Follower Logic

Check Inbox

Start on Initial Task

Continue on Path: (Speed, Heading)

Communication Port

At last Waypoint

Stop

Vehicle Then

Else

If

Received Message Communication

Port

Transmitted Message

Replace Swimmer 2

Module

If Swimmer 2

Disabled

Replace Swimmer 3

Module

If Swimmer 3

Disabled

Reconfigure

for Swimmer 2

Reconfigure

for Swimmer 3

XXX

Send Message on Status

Swimmer 2 Disabled and

NFV

Swimmer 3 Disabled and

NFV

Vehicle Logic

• Vehicle Goes To Different Module Depending on What Messages are in The Inbox

• Loops Around Each Time

Simulation

Leader

If

Then

Swimmer 2 Disabled

Replace Swimmer 2 with Follower

Send Message to Follower

Return to Leader Logic

Communication Port

Transmitted Message

Enter From Leader Logic

Write to Vehicle Memory NFV

Replace Swimmer 3 Module

Check Inbox

Start on Initial Task

Continue on Path: (Speed, Heading)

Communication Port

At last Waypoint

Stop Vehicle Then

Else

If

Received Message

Communication Port

Transmitted Message

Replace Swimmer 2 Module

If Swimmer 2

Disabled

Replace Swimmer 3 Module

If Swimmer 3

Disabled

Reconfigure for Swimmer 2

Reconfigure for Swimmer 3

XXX

Send Message on Status

Swimmer 2 Disabled and

NFV

Swimmer 3 Disabled and

NFV

If

Then

Message is RV2

Replace Swimmer 2 with Follower

Change Vehicle#_id to Swimmer 2

Enter From Follower Logic

To Swimmer Logic

Follower Logic

Follower

Replace Swimmer 3 Module

Stop Vehicle

Else

Then

If

Received Message

Communication Port

Start on Initial Task

Continue on Path (Speed, Heading)

At Last Waypoint

Replace Swimmer 2 Module

Replace Swimmer 3 Module

Replace Leader Module

XXX XXX XXX

Message is RV2 Message is RV3 Message is LDD XXX XXXXXX

Check Inbox

Check Inbox

Start on Initial Task

Continue on Path: (Speed, Heading)

Communication Port

At last Waypoint

Stop Vehicle Then

Else

If

Received Message

Communication Port

Transmitted Message

Replace Swimmer 2 Module

If Swimmer 2

Disabled

Replace Swimmer 3 Module

If Swimmer 3 Disabled

Reconfigure for Swimmer 2 Reconfigure for Swimmer 3 XXX

Send Message on Status

Swimmer 2 Disabled and NFV

Swimmer 3 Disabled and NFV

If

Then

Swimmer 2 Disabled and NFV

Generate New Waypoint Path

Replace Swimmer 2 with Swimmer 3

Return to Leader Logic

Communication Port

Transmitted Message

Enter From Leader Logic

Send Message to Swimmers

Leader

Reconfigure For Swimmer 2

Swimmer 3

Reconfigure For Swimmer 2

Then

Else

Start on Initial Task

Continue on Path (Speed, Heading)

Send Message to Leader on Status

At Last Waypoint Stop Vehicle

Communication Port

Transmitted Message

If

Check Inbox

Replace Leader Module

Reconf for Swimmer 2

Module

Reconf for Swimmer 3

Module

Replace Vehicle Module

XXX XXX

Message is LDD

Communication Port

Received Message

Message is RC2

Message is RC3

Message is RV2 or RV3

XXX XXX

Determine Vehicle Rank

If

If

Message is RC2

Vehicle Rank is 3

Enter From Swimmer Logic

Change Vehicle#_id to Swm2

To Swimmer 2 Logic

Then

Else

Return to Swimmer Logic

Generate New Waypoint Path

Swimmer 3 Swimmer 3

Leader Swimmer 2

Leader Swimmer 3