Intelligent Autonomy and Performance Measures for Coordinated Unmanned Vehicles

摘要

This paper describes an autonomous Intelligent Controller (IC) architecture directly applicable to the design of unmanned autonomous vehicles and performance measures associated with intelligent autonomy. The vehicles may operate independently or cooperate to carry out complex missions involving disparate sensors or payload packages. An approach to measure the performance achieved with collaborative control is presented and simulation scenarios are provided to demonstrate how the metrics are applied.