Title:
Mission Specification and Control for Unmanned Aerial and Ground Vehicles for Indoor Target Discovery and Tracking
Mission Specification and Control for Unmanned Aerial and Ground Vehicles for Indoor Target Discovery and Tracking
Author(s)
Ulam, Patrick D.
Kira, Zsolt
Arkin, Ronald C.
Collins, Thomas R.
Kira, Zsolt
Arkin, Ronald C.
Collins, Thomas R.
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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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Date Issued
2010
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Text
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Paper