The Navy would like to use platoons of cooperating Autonomous Underwater Vehicles (AUVs) for large area underwater mine countermeasures (MCM). Collaborative behavior requires a common language, control structure, and logic so the AUVs can coordinate their action through communication. The loss of an AUV (can no longer perform assigned tasks) is a problem the formation is likely to face. The formation must compensate for lost AUVs, or time would be wasted in researching the area. In order to replace a lost AUV, the formation must determine when a vehicle is lost and what to do if a vehicle returns after being declared lost. To address these problems, fuzzy logic was used to determine when an AUV should be replaced, and a logic structure was developed to insert returning AUVs. Computer simulations showed that the logics increased the defined performance index by about 70% over the baseline case.

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