Hierarchical Control of Semi-Autonomous Teams Under Uncertainty (HICST)
Final rept. 28 Sep 2001-31 Dec 2003
CALIFORNIA UNIV BERKELEY DEPT OF ELECTRICAL ENGINEERING AND COMPUTER SCIENCE
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This is the final report of work done under DARPA Contract F33615-01-C-3150, for the period of performance September 2001 through December 2003. Algorithms and associated software were developed for the following modules 1. Interactive task planner ITP 2. Configuration and schedule 3. Task execution 4. State estimator 5. Java interface to OEP 6. Robust dynamic programming for path planning with uncertain information 7. Flexible formation of teams operating under large uncertainties and 8. Path planning with two constraints. Modules 1-5 are integrated into a self-contained package that can be used in an off-line or open loop planning phase followed by a closed-loop execution phase. The package can be used in a fully automated fashion or in an interactive manner, in which the user can intervene at several stages to modify the operation of the modules. Thus the package makes provision for mixed initiative. Modules 6-8 are stand alone algorithms. Software implementations for these algorithms were developed. The report describes these modules and provides examples to illustrate their operation. The technology developed under HICST, and the modules that embody this technology, represent a significant advance towards the objectives of the MICA program.
- Operations Research
- Computer Programming and Software
- Pilotless Aircraft