Hierarchical Integrated Mission Control Framework and Scenario-based Mode Analysis for Heterogeneous Autonomous Systems in Maritime Environments

This study proposes a hierarchical integrated mission control framework and scenario-based mode analysis for heterogeneous autonomous systems in extreme maritime environments. The architecture employs a three-layer topology-comprising ground, shipboard, and component layers and ensures operational determinism by normalizing complex missions into unit actions managed via a finite state machine (FSM). Specifically, operational modes are derived from interface control document (ICD)-based data states and decomposed into atomic-level unit actions, with each mode transition completed only upon command-acceptance feedback from the subordinate component. Sea trials in Yeongil Bay demonstrated the feasibility of the proposed architecture at the unit-action level, where millisecond-level synchronized data elucidated the command-status synchronization process across heterogeneous components. This study establishes a controllable logical structure for uncertain maritime operations and provides a foundational basis for integrating advanced autonomous algorithms and robust exception-handling mechanisms in future work.