Unmanned surface vehicle (USV) is a kind of unmanned autonomous marine vehicle,with a certain degree of adaptive ability. With the development of unmanned systems,the intelligent level of USV is becoming higher and higher in recent years. But sometimes it is still unable to cope with some complicated environment and difficult tasks. Thus the cognitive capacity of human is needed to assist USV to cope with these difficulties. The adjustable autonomy mechanism in unmanned system makes USV could ask assistance...