A strong component of current underwater robotics work lies in the realm of multiple vehicles and instrument platforms (VIPs). Successful fielding of functional multiple VIP systems will require that we first gain experience with the issues pertaining to the interactions between the participants, who must cooperate in order to accomplish complex and dynamic long term missions. Many current simulation tools are directed towards investigations into the motion characteristics of vehicle body styles and their propulsion systems. While these tools are essential in the design of vehicle bodies, they do not directly address the issues of cooperative behavior among a team of VIPs. There is a scarcity of tools geared towards the needs of researchers working with multiple cooperating VIPs2. To answer this need, we have developed the Cooperative AUV Development Concept (CADCON).
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