A Hierarchical, Modular Interface and Verification Architecture for Mission Planning in Swarm Unmanned Surface Vehicles: Simulation and Sea-Trial Validation

Swarm Unmanned Surface Vehicles (SUSV) must sustain real-time coordination as fleet scale and formation change. We propose hierarchical and modular architecture that decouples mission-planning algorithms from interface evolution, composed of an Interface Adapter System (IAS), a Mission Execution System (MES), and an Interoperation Integration Verification System (IIVS). The IAS standardizes and integrates data from diverse sensors and subsystems through modular adapters, facilitating flexible subsystem integration. The MES employs a discrete-event system specification (DEVS)-based modeling approach, providing independent and efficient mission execution capability without necessitating interface modifications. The IIVS utilizes LabVIEW-based analytical methods to verify and validate subsystem interoperability continuously, enabling rapid and reliable scaling. The architecture was implemented in an operational SUSV program and evaluated through simulation experiments and sea trials. During scale-up from 10 to 20 USVs, mission-cycle deadlines (≤250 ms) were met in 99% of cases, while integration lead time for scale-up decreased by about 80%. Message-level tests confirmed robust interoperation under increased load, and algorithm-level tests showed stable plan re-computation under dynamic tasking. These results indicate improved interoperability, scalability, and reliability, offering a practical blueprint for mission planning in maritime swarms.