s Restore June 00, 0000, at 00:00 PM by 000.0.0.0 - Changed lines 0-00 from: !! ''MOOS-Enabled Semi-Autonomous Remote USV Operations'' %color=#000000% '''Signe Redfield, NSWC-PCD''' A multi-vehicle mission involving simultaneous identification (by UUVs) and neutralization (by a USV) of targets is complicated by the need to keep the neutralization efforts distant from the identification vehicles. As targets are identified by the UUVs, they are relayed to the USV for imaging (proxy for neutralization). The USV plans a sequence of neutralization efforts based on desired efficiency (prosecuting targets in close proximity in the same sequence), neutralization capacity (number of targets that can be prosecuted without reloading), the location of the reloading depot, and distance from other vehicles. We present a solution to this variation of the capacitated vehicle routing problem, implemented on a semi-autonomous USV. MOOS performed the autonomous portion of the mission running on a remote laptop while a human operator ran a teleoperated underwater vehicle launched and retrieved from the USV as a proxy for the neutralization system as each target was reached. Together the system demonstrated semi-autonomous remote USV operations, with the human operator working smoothly with the autonomous system. 