  We present Dolphin, an extensible programming language for autonomous vehicle
networks. A Dolphin program expresses an orchestrated execution of tasks
defined compositionally for multiple vehicles. Building upon the base case of
elementary one-vehicle tasks, the built-in operators include support for
composing tasks in several forms, for instance according to concurrent,
sequential, or event-based task flow. The language is implemented as a Groovy
DSL, facilitating extension and integration with external software packages, in
particular robotic toolkits. The paper describes the Dolphin language, its
integration with an open-source toolchain for autonomous vehicles, and results
from field tests using unmanned underwater vehicles (UUVs) and unmanned aerial
vehicles (UAVs).
