A pressurized air cushioned hull with fixed rigid side, front and rear seals. The hull includes a plurality of keels, with an air cushion disposed between inboard walls of each keel and an air cushion created/disposed along the outboard walls of each keel. These air cushions along the outboard walls of the keels are created by angling each keel by about 0.02 to about 1 relative to the longitudinal axis of the hull, wherein the left keel(s) is rotated clockwise and the right keel(s) is rotated counterclockwise, such that a distance between the keels is smaller at the front end of the keels than at the rear end of the keels. This slight angle was found to allow air, rather than water, to contact the outboard walls, unexpectedly reducing drag resistance a significant amount, thus improving performance of the hull as a whole.

Systems and associated methods for planning and control of a fleet of unmanned vehicles in missions that are coordinated temporally and spatially by geo-location, direction, vehicle orientation, altitude above sea level, and depth below sea level. The unmanned vehicles' transit routes may be fully autonomous, semi-autonomous, or under direct operator control using off board control systems. Means are provided for intervention and transit changes during mission execution. Means are provided to collect, centralize and analyze mission data collected on the set of participating unmanned vehicles.

An unmanned vehicle system is provided. The system may comprise a host vehicle and a guest vehicle, each of which may each include a vehicle body, a control system, a maneuvering system, and a sensor and communication system. The host vehicle may also include a securing system. The host vehicle and the guest vehicle may be in communication with one another, and the guest vehicle may be moveable between a stowed state, defined as the guest vehicle being at least partially carried by a portion of the host vehicle, and a deployed state, defined as the guest vehicle being spaced apart from the host vehicle. The securing system may be operable to move between a locked state and an unlocked state to selectively engage the guest vehicle to allow for the guest vehicle to be moved from the stowed state to the deployed state.

An unmanned vehicle may include a vehicle body and a propulsion system carried by the vehicle body. The unmanned vehicle may also include a maneuvering system carried by the vehicle body and a vehicle control system carried by the vehicle body. The vehicle control system may control speed, orientation, or direction of travel of the unmanned vehicle. The unmanned vehicle may also include a mount point carried by the vehicle body. An interchangeable payload deck may be removably connected to a portion of the vehicle body via the at least one mount point. The unmanned vehicle may further include a power supply carried by the vehicle body.

Method and apparatus of various embodiments of a planing boat or vehicle supported by a system of three cambered planing surfaces, comprising two transversely set apart forward surfaces generating on their inner edges two counter-rotating tip vortices resulting in an ascending flow further aft downstream of the gap between these two forward surfaces, and one center aft surface, which sections are displaced higher vertically and inclined nose-dive relatively sections of the forward surfaces by the height and slope angle of the ascending flow at their location, so that the angles of deadrise and moduli of negative angles of inclination of the aft surface gradually increase along the span from the center plane outwards, embodying in special angular and spatial relative arrangement of said three planing surfaces and configuration of the aft surface with its half-planes curved upwards and twisted downwards in a substantially hyperbolic manner.