Additional Participants

Graduate Student

Martin Dempsey
Peggy Eaton
Prabha Ramakrishnan

Undergraduate Student

Jason Mailman
Matthew Hall
Justin Drake
Collette Matthias

Partner Organizations

Autonomous Undersea Systems Institute

Project Period

August 31, 1995-August 31, 1998

Level of Access

Open-Access Report

Grant Number


Submission Date



Most of the research activities performed during this grant period had to do with designing and implementing the Orca intelligent autonomous underwater vehicle (AUV) controller. This entailed a requirements analysis early in the project, followed by the design and implementation of the program. The latter two activities were interleaved; Orca was designed and implemented in a phased manner, with each new version of the program having more functionality.