|Title||Task planning and execution for UAV teams|
|Publication Type||Conference Paper|
|Year of Publication||2004|
|Authors||de Sousa, JBorges, Simsek, T, Varaiya, P|
|Conference Name||2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601)|
We design the attack of the Blue force of unmanned air combat vehicles (UAV), against Red's ground force of SAM sites and radars. The design is structured in a two-level hierarchy of planning and execution. The plan, based on prior information, determines which targets are to be attacked and groups them into sub-tasks; allocates a UAV team to each sub-task; and selects a risk-minimizing path for each team. Execution is organized in a hierarchy of real-time controllers, which determine the actual flight path, weapons release, and space-time coordination of the actions of a UAV team. Plan development uses an algorithm that determines the sequence in which targets are to be attacked. Execution design is specified in Shift, a programming language for dynamic networks of hybrid automata.