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

Abstract

This paper describes ongoing research by Georgia Tech into the challenges of tasking and controlling heterogonous teams of unmanned vehicles in mixed indoor/outdoor 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.

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Document Details

Document Type
Technical Report
Publication Date
Jan 01, 2010
Accession Number
ADA516618

Entities

People

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

Organizations

  • Georgia Tech

Tags

Communities of Interest

  • Autonomy

DTIC Thesaurus Topics

  • Aircrafts
  • Autonomous Systems
  • Collision Avoidance
  • Detectors
  • Ground Vehicles
  • Kalman Filters
  • Reconnaissance
  • Rotary Wing Aircraft
  • Sensor Networks
  • Simulations
  • Simultaneous Localization And Mapping
  • Specifications
  • Unmanned Aerial Vehicles
  • Unmanned Ground Vehicles
  • Unmanned Systems
  • Unmanned Vehicles
  • Wireless Sensor Networks

Readers

  • Robotics and Automation.
  • Software Engineering.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • Autonomy
  • Autonomy - Autonomous System Control
  • Autonomy - UAVs