Implementation of a Manned Vehicle - UAV Mission System
Mario Valenti, Tom Schouwenaars, Yoshiaki Kuwata, Éric Féron, Jonathan P. How, James L. Paunicka · AIAA Guidance, Navigation, and Control Conference and Exhibit · 2004
We discuss the development, integration, simulation, and flight test of a manned vehicle UAV mission system in a partially-known environment. The full control system allows a manned aircraft to issue mission level commands to an autonomous aircraft in realtime. This system includes a Natural Language (NL) Interface to allow the manned and unmanned vehicle to communicate in languages understood by both agents. The unmanned vehicle implements a dynamic mission plan determined by a weapons systems officer (WSO) on the manned vehicle. The unmanned vehicle uses a Mixed-Integer Linear Programming (MILP) based trajectory planner to direct the vehicle according to the mission plan. We provide simulation and test results for this system using an integrated computer-based simulation and the vehicle hardware testing in late June 2004. The activities described in this paper are part of the Capstone demonstration of the DARPA-sponsored Software Enabled Control effort.