The report describes the development of a theoretical framework for coordination and control of combined teams of UAVs and UGVs for coordinated ISR missions. We consider the mission as a composition of an ordered sequence of subtasks, each to be performed by a different team. We design continuous cooperative controllers that enable each team to perform a given subtask and we develop a discrete strategy for interleaving the action of teams on different subtasks. The overall multi-agent coordination architecture is captured by a hybrid automaton, stability is studied using Lyapunov tools, and performance is evaluated through numerical simulations.
Sandia National Laboratories
Cooperative control, UAVs, UGVs, reconnaissance, surveillance, search
Tanner, Herbert G.. "Task-driven multi-formation control for coordinated UAV/UGV ISR missions." (2006). https://digitalrepository.unm.edu/me_fsp/3