Mission specification and control for unmanned aerial and ground vehicles for indoor target discovery and tracking

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

doi:10.1117/12.849842

7 May 2010 Mission specification and control for unmanned aerial and ground vehicles for indoor target discovery and tracking

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

Author Affiliations +

Proceedings Volume 7694, Ground/Air Multi-Sensor Interoperability, Integration, and Networking for Persistent ISR; 769414 (2010) https://doi.org/10.1117/12.849842
Event: SPIE Defense, Security, and Sensing, 2010, Orlando, Florida, United States

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.

Citation Download Citation

Patrick D. Ulam, Zsolt Kira, Ronald C. Arkin, and Thomas R. Collins "Mission specification and control for unmanned aerial and ground vehicles for indoor target discovery and tracking", Proc. SPIE 7694, Ground/Air Multi-Sensor Interoperability, Integration, and Networking for Persistent ISR, 769414 (7 May 2010); https://doi.org/10.1117/12.849842

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