System and method for operator control of heterogeneous unmanned system teams

Buerger, Stephen; Love, Joshua Alan; Neely, Jason C.; Amai, Wendy A.; Little, Charles Q.

System and method for operator control of heterogeneous unmanned system teams

Patent · Tue Jan 01 04:00:00 EST 2019

OSTI ID:1493315

Buerger, Stephen; Love, Joshua Alan; Neely, Jason C.; Amai, Wendy A.; Little, Charles Q.

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.

Research Organization:: Sandia National Laboratories, Albuquerque, NM (United States)

Sponsoring Organization:: USDOE

DOE Contract Number:: AC04-94AL85000

Assignee:: National Technology & Engineering Solutions of Sandia, LLC (Albuquerque, NM)

Patent Number(s):: 10,168,674

Application Number:: 14/258,986

OSTI ID:: 1493315

Country of Publication:: United States

Language:: English

References (8)

Distributed Sequential Auctions for Multiple UAV Task Allocation Sujit, P. B.; Beard, Randy 2007 American Control Conference https://doi.org/10.1109/ACC.2007.4282558	conference	July 2007
A layered control architecture for single-operator control of heterogeneous unmanned system teams Buerger, Stephen P.; Neely, Jason; Little, Charles SPIE Defense, Security, and Sensing, SPIE Proceedings https://doi.org/10.1117/12.919122	conference	May 2012
Distributed multirobot exploration, mapping, and task allocation Vincent, Regis; Fox, Dieter; Ko, Jonathan Annals of Mathematics and Artificial Intelligence, Vol. 52, Issue 2-4 https://doi.org/10.1007/s10472-009-9124-y	journal	April 2008
Decentralized control of cooperative robotic vehicles: theory and application Feddema, J. T.; Lewis, C.; Schoenwald, D. A. IEEE Transactions on Robotics and Automation, Vol. 18, Issue 5 https://doi.org/10.1109/TRA.2002.803466	journal	October 2002
Decentralized Control of Unmanned Aerial Vehicle Collaborative Sensing Missions Ryan, Allison; Tisdale, John; Godwin, Mark 2007 American Control Conference https://doi.org/10.1109/ACC.2007.4282397	conference	July 2007
Robust planning for coupled cooperative UAV missions Bertuccelli, L. F.; Alighanbari, M.; How, J. P. 2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601) https://doi.org/10.1109/CDC.2004.1428909	conference	January 2004
Market-Based Multirobot Coordination: A Survey and Analysis Dias, M. B.; Zlot, R.; Kalra, N. Proceedings of the IEEE, Vol. 94, Issue 7 https://doi.org/10.1109/JPROC.2006.876939	journal	July 2006
Algorithm for optimal winner determination in combinatorial auctions Sandholm, Tuomas Artificial Intelligence, Vol. 135, Issue 1-2 https://doi.org/10.1016/S0004-3702(01)00159-X	journal	February 2002

Similar Records

Adaptive heterogeneous multi-robot teams

Conference · Sat Oct 31 23:00:00 EST 1998 · OSTI ID:665849

L-ALLIANCE: a mechanism for adaptive action selection in heterogeneous multi-robot teams

Technical Report · Tue Oct 31 23:00:00 EST 1995 · OSTI ID:211400

Prospecting for lunar ice using a multi-rover cooperative team

Conference · Thu Feb 10 23:00:00 EST 2000 · OSTI ID:751191

Related Subjects

47 OTHER INSTRUMENTATION

System and method for operator control of heterogeneous unmanned system teams

Citation Formats

References (8)

Similar Records

Related Subjects