 Title: ''Unmanned Robot Message Optimization Method (URMOM)'' '''Andrew Bouchard, NSWC PCD''' Restore June 00, 0000, at 00:00 PM by 000.0.0.0 - Changed lines 0-0 from: One of the greatest challenges of working in the underwater regime is the severe limitations of acoustic communications. This problem becomes even more evident in multi-vehicle autonomy, when vehicles must continually update each other with their state and intentions to achieve cooperative goals. In order to support tests of a multi-vehicle arbiter framework, an optimization scheme was created and implemented as a MOOS module to enable sufficient message passing between vehicles. Using this tool, vehicle state and destination, shared map updates, updated algorithm parameters, target information, and decision reconciliation can be effectively shared between vehicles using the published Compact Control Language (CCL) standard for acoustic messages. to: One of the greatest challenges of working in the underwater regime is the severe limitations of acoustic communications. This problem becomes even more evident in multi-vehicle autonomy, when vehicles must continually update each other with their state and intentions to achieve cooperative goals. In order to support tests of a multi-vehicle arbiter framework, an optimization scheme was created and implemented as a MOOS module to enable sufficient message passing between vehicles. Using this tool, vehicle state and destination, shared map updates, updated algorithm parameters, target information, and decision reconciliation can be effectively shared between vehicles using the published Compact Control Language (CCL) standard for acoustic messages. Restore June 00, 0000, at 00:00 PM by 000.0.0.0 - Changed lines 0-00 from: One of the greatest challenges of working in the underwater regime is the 