UAV Team Behaviors in Operational Scenarios

摘要

The Behavior Enhanced Heterogeneous Autonomous Vehicle Environment (BEHAVE) is a distributed system for the command and control of multiple Unmanned Vehicle Systems (UVS) with various sensor payloads (EO, infrared and radar) and mission roles (combat, reconnaissance, penetrator, relay) working in cooperation to fulfill mission goals in light of encountered threats, vehicle damage, and mission redirects. In its current form, BEHAVE provides UVS dynamic route planning/replanning, autonomous vehicle control, platform self-awareness, autonomous threat response, and multi-vehicle cooperation. This paper focuses on BEHAVE's heterogeneous autonomous UVS team cooperation achieved through the transformation of UVS operational doctrine into UVS team behaviors. This level of tactics provides the initial high-level cooperative control guidance and plans for multiple UVSs operating to achieve specific mission goal. BEHAVE's heterogeneous UVS behaviors include inter-vehicle cueing capability on coupled missions based on new threats, targets, and foreshadowing changes in environments, optimizing individual UVS mission roles, enhanced reassignment of mission goals based upon resources consumed and threats encountered, and multi UVS team threat behavior. Threat behaviors include logic incorporated for team scenarios such as drawing out or confusing threats.