| Abstract: | A control architecture and associated control methods are under
development to allow a single user to control a team of multiple
heterogeneous UMS as they conduct multi-faceted (i.e. multi-objective)
missions in real time is disclosed. The control architecture is
hierarchical, modular and layered and enables operator interaction at
each layer, ensuring the human operator is in close control of the
unmanned team at all times. The architecture and key data structures are
introduced. Two approaches to distributed collaborative control of
heterogeneous unmanned systems are described, including an extension of
homogeneous swarm control and a novel application of distributed model
predictive control. Initial results are presented, demonstrating
heterogeneous UMS teams conducting collaborative missions. |