Accession Number:

ADA516618

Title:

Mission Specification and Control for Unmanned Aerial and Ground Vehicles for Indoor Target Discovery and Tracking

Descriptive Note:

Corporate Author:

GEORGIA INST OF TECH ATLANTA MOBILE ROBOT LAB

Personal Author(s):

• Ulam, Patrick D.
• Kira, Zsolt
• Arkin, Ronald C.
• Collins, Thomas R.

Report Date:

2010-01-01

Pagination or Media Count:

13.0

Abstract:

This paper describes ongoing research by Georgia Tech into the challenges of tasking and controlling heterogonous teams of unmanned vehicles in mixed indooroutdoor reconnaissance scenarios. We outline the tools and techniques necessary for an operator to specify, execute, and monitor such missions. The mission specification framework used for the purposes of intelligence gathering during mission execution are first demonstrated in simulations involving a team of a single autonomous rotorcraft and three ground-based robotic platforms. Preliminary results including robotic hardware in the loop are also provided.

Descriptors:

• *TRACKING
• *SOFTWARE TOOLS
• *MISSIONS
• *TARGETS
• *ROBOTICS
• SPECIFICATIONS
• HARDWARE IN THE LOOP
• INSECTS
• SITUATIONAL AWARENESS
• AERIAL RECONNAISSANCE
• VERIFICATION
• DRONES
• SCENARIOS
• SIZES(DIMENSIONS)

Subject Categories:

• Computer Programming and Software
• Cybernetics
• Target Direction, Range and Position Finding

Distribution Statement:

APPROVED FOR PUBLIC RELEASE