Expediting recovery of autonomous underwater vehicles in dynamic mission environments: A system-of-systems challenge for underwater warfare.

As autonomous underwater vehicle (AUV) adoption increases, operators demand advanced behaviors from commercial off-the-shelf systems. However, new behaviors can often only be deployed operationally once assured. This paper overviews research into expediting recovery to an operator's vessel through a custom homing behavior, demonstrating technology advancement in conjunction with test and evaluation activities. Advanced docking infrastructure and frameworks are still under development, yet current AUV operations require rapid and reliable recovery when mission factors change. Homing is achieved with a directional acoustic transponder providing range and bearing data to the AUV from the operator's vessel. A converted measurement Kalman filter processes range and bearing data that generates dynamic waypoints for the AUV through MOOS-IvP as a backseat driver; a universal approach and filtering that is unique from prior AUV research. Results from simulations and field trials were analysed through a modular and experimental Test & Evaluation framework that was adopted specifically to help verify and validate the new AUV behavior, including systematic variations in recovery boat manoeuvres. The process includes documented use for the first time in AUV research of combinatorial screening (high throughput testing) and an average standardized residual metric to focus development early, encourage constructive iteration and build operational and engineering trust. Consistent homing was demonstrated with localization within 0.3 m and homing within 1.8 m of a moving digital acoustic transponder.