The Virtual UAV Leader
Charles Reavis Price · AIAA Infotech@Aerospace 2007 Conference and Exhibit · 2007
[Abstract ] The Virtual UAV Leader is a new co ncept for semi autonomous control of UAV (Un inhabit ed Aerial Vehicles) swarms that bridges the gap between conventional manual or waypoint control of a single UAV and fully autonomous, cooperative control of UAVs in large numbers. The development rational e for this concept, its architecture, and the implications for its operational use are discussed. The Virtual UAV Leader is proposed as a simulation of a UAV whose state information can provide a reference for multiple real UAVs in a squadron or swarm. C ontrol of the real UAVs would be divided into two major modes, Referenced and Autonomous, which would be selectable by the ground commander. The reference mode of control would send deterministic “delta commands” relative to the state of the Virtual UAV Leader to the squadron members to perform maneuvers such as formation flying. The Autonomous control mode, when invoked by the ground commander, would allow the UAVs to control themselves based on high level mission objectives using non deterministic algo rithms. The key advantage of the Virtual UAV Leader is its intrinsic override capability that enables the operator to “call back” the autonomous swarm and return the UAVs to orderly, deterministic control. It is asserted that this capability enables a me thod of incremental testing of stochastic control systems that has not been available previously and will aid the verification of “behavioral -based” non deterministic control systems, which cannot be satisfactorily verified by current verification tools. Additionally, formation flying could be operationally performed under the Referenced mode. Examples of such operations include 1) a longitudinal “string” of UAVs flying over a point of interest to obtain time lapse photographs of a developing situation an d 2) a lateral “spread” of UAVs flying over a front line to gather simultaneous video across the entire front. While a physical UAV leader is subject to battle damage and destruction, the Virtual Leader can never be shot down -- thereby providing a stabile , robust reference for swarm operations. Initial implementation of this concept will place the simulation in the ground station; ultimate implementations would place the Virtual UAV Leader onboard each UAV and be shared in a cooperative, autonomous system . The Virtual UAV Leader would enable operation of multiple UAVs from a single ground control station, keep the human intelligence close to the operation, and provide a practical system that can be deployed in the near term both for developmental testing and for field operations.