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Collaborative autonomous multi-vessel detection, bounding, and containment for maritime environmental disasters

This paper demonstrates the process of adapting publicly available repositories for the MOOS-IvP middleware to efficiently create and solve problems for collaborative marine autonomy. The problem introduced in this paper addresses a collaborative approach for autonomous environmental anomaly detection, bounding, and containment. An environmental anomaly may be an oil spill, radioactive contamination, or other similar undesirable and detectable event. A simulated oil spill anomaly was introduced into the maritime environment. Multiple autonomous vessels searched an area and discovered the anomaly. Upon detection, one vessel continued to search the larger area for additional spills. The second vessel began a dedicated survey of the spill area to determine the severity, approximate bounding dimensions, and spreading, if any. Upon completing its survey to a reasonable level of confidence, another vessel confirmed the boundary then surrounded the bounded spill area with an oil boom to prevent further spreading. Vessels provided detailed spill reports throughout the survey and bounding process. A final spill report was sent to the shore side control station with the overall dimensions of the spill as well as the location and dimensions of the bounding oil boom that was laid. The vehicles used in this problem were capable of avoiding collision with other marine traffic in accordance with the international collision regulations (COLREGS).