: !! Talk-00: ''Behaviour Development for Anti-Submarine Warfare: The Design of a MOOS-IvP Behavior Based on Maximizing the Doppler of Autonomous Assets Operating Within a Bistatic Sonar System'' !!!!%color=#000000% '''Kevin LePage, NATO Undersea Research Centre''' The NATO Undersea Research Centre is currently exploring system concepts for collaborative ASW using AUVs. As part of this effort the design of autonomy algorithms (behaviours) which are adaptive on Doppler-sensitive sonar signals is being pursued. MOOS-IvP is currently used onboard two Ocean Explorer AUVs which each have horizontal line arrays and accompanying CW signal processing software capable of converting acoustic signals into time-bearing-Doppler contacts. These contacts are fused with FM contacts within NURC's DMHT tracker. The fused CW-FM tracks are acted on by the behaviours implemented within the MOOS-IvP software architecture. In this talk we explore the performance of a behaviour which seeks to maximize the future Doppler on contacts of interest. The collaborative use of this behaviour with a second vehicle performing traditional FM processing is also considered. 