Control Logic

1. Receive Message Translated Message Logic Transmitted Message Translated Message Communication Module Communication Module Control Logic • 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

2. Message Out Binary Outgoing binary message Adds time delay: transmission and delivery Induces error Takes binary message from transmitting vehicle and puts it into the inbox for the other vehicle ALWSE Communication Module Message In Binary Incoming binary message Vehicle Received Script Converts the binary number into message that the logic understands Message In Message Vehicle Logic Processes message and makes appropriate actions or outgoing messages Message Out Outgoing message Vehicle Transmission Converts outgoing message into binary Communication

3. 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

4. Leader Follower Swimmer 2 Swimmer 3 Terminology

5. Get Vehicle ID and Initial Task, (From TC) Leader Logic Swimmer Logic Follower Logic Then Vehicle Logic • 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

6. Start on Initial Task Continue on Path: (Speed, Heading) Received Message Check Inbox Communication Port Swimmer 2 Disabled and NFV Swimmer 3 Disabled and NFV If Swimmer 2 Disabled If Swimmer 3 Disabled Replace Swimmer 2 Module Replace Swimmer 3 Module Reconfigure for Swimmer 2 Reconfigure for Swimmer 3 XXX Transmitted Message Send Message on Status Communication Port If At last Waypoint Then Stop Vehicle Else Vehicle Logic • Vehicle Goes To Different Module Depending on What Messages are in The Inbox • Loops Around Each Time

7. Simulation

8. Enter From Leader Logic If Swimmer 2 Disabled Then Replace Swimmer 2 with Follower Transmitted Message Communication Port Send Message to Follower Write to Vehicle Memory NFV Return to Leader Logic Start on Initial Task Continue on Path: (Speed, Heading) Received Message Check Inbox Communication Port Swimmer 2 Disabled and NFV Swimmer 3 Disabled and NFV If Swimmer 2 Disabled If Swimmer 3 Disabled Replace Swimmer 2 Module Replace Swimmer 3 Module Reconfigure for Swimmer 2 Reconfigure for Swimmer 3 XXX Transmitted Message Send Message on Status Communication Port If At last Waypoint Then Stop Vehicle Else Leader Replace Swimmer 3 Module

9. Enter From Follower Logic If To Swimmer Logic Message is RV2 Then Replace Swimmer 2 with Follower Change Vehicle#_id to Swimmer 2 Start on Initial Task Continue on Path (Speed, Heading) Received Message Communication Port Check Inbox Message is RV2 Message is RV3 Message is LDD XXX XXX XXX Replace Swimmer 2 Module Replace Swimmer 3 Module Replace Leader Module XXX XXX XXX If At Last Waypoint Then Stop Vehicle Else Follower Logic Follower Replace Swimmer 3 Module

10. Enter From Leader Logic If Swimmer 2 Disabled and NFV Then Generate New Waypoint Path Transmitted Message Communication Port Replace Swimmer 2 with Swimmer 3 Send Message to Swimmers Return to Leader Logic Start on Initial Task Continue on Path: (Speed, Heading) Received Message Check Inbox Communication Port Swimmer 2 Disabled and NFV Swimmer 3 Disabled and NFV If Swimmer 2 Disabled If Swimmer 3 Disabled Replace Swimmer 2 Module Replace Swimmer 3 Module Reconfigure for Swimmer 2 Reconfigure for Swimmer 3 XXX Transmitted Message Send Message on Status Communication Port If At last Waypoint Then Stop Vehicle Else Leader Reconfigure For Swimmer 2

11. Enter From Swimmer Logic If Message is RC2 If To Swimmer 2 Logic Vehicle Rank is 3 Else Return to Swimmer Logic Then Change Vehicle#_id to Swm2 Generate New Waypoint Path Start on Initial Task Continue on Path (Speed, Heading) Determine Vehicle Rank Received Message Communication Port Check Inbox Message is LDD Message is RC2 Message is RC3 Message is RV2 or RV3 XXX XXX Replace Leader Module Reconf for Swimmer 2 Module Reconf for Swimmer 3 Module Replace Vehicle Module XXX XXX Transmitted Message Send Message to Leader on Status Communication Port If At Last Waypoint Then Stop Vehicle Else Swimmer 3 Reconfigure For Swimmer 2

12. Swimmer 3 Swimmer 3

13. Leader Swimmer 2

14. Leader Swimmer 3