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Proceedings Paper

Distributed pheromone-based swarming control of unmanned air and ground vehicles for RSTA
Author(s): John A. Sauter; Robert S. Mathews; Andrew Yinger; Joshua S. Robinson; John Moody; Stephanie Riddle
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Paper Abstract

The use of unmanned vehicles in Reconnaissance, Surveillance, and Target Acquisition (RSTA) applications has received considerable attention recently. Cooperating land and air vehicles can support multiple sensor modalities providing pervasive and ubiquitous broad area sensor coverage. However coordination of multiple air and land vehicles serving different mission objectives in a dynamic and complex environment is a challenging problem. Swarm intelligence algorithms, inspired by the mechanisms used in natural systems to coordinate the activities of many entities provide a promising alternative to traditional command and control approaches. This paper describes recent advances in a fully distributed digital pheromone algorithm that has demonstrated its effectiveness in managing the complexity of swarming unmanned systems. The results of a recent demonstration at NASA's Wallops Island of multiple Aerosonde Unmanned Air Vehicles (UAVs) and Pioneer Unmanned Ground Vehicles (UGVs) cooperating in a coordinated RSTA application are discussed. The vehicles were autonomously controlled by the onboard digital pheromone responding to the needs of the automatic target recognition algorithms. UAVs and UGVs controlled by the same pheromone algorithm self-organized to perform total area surveillance, automatic target detection, sensor cueing, and automatic target recognition with no central processing or control and minimal operator input. Complete autonomy adds several safety and fault tolerance requirements which were integrated into the basic pheromone framework. The adaptive algorithms demonstrated the ability to handle some unplanned hardware failures during the demonstration without any human intervention. The paper describes lessons learned and the next steps for this promising technology.

Paper Details

Date Published: 16 April 2008
PDF: 12 pages
Proc. SPIE 6962, Unmanned Systems Technology X, 69620C (16 April 2008); doi: 10.1117/12.782271
Show Author Affiliations
John A. Sauter, NewVectors (United States)
Robert S. Mathews, NewVectors (United States)
Andrew Yinger, NewVectors (United States)
Joshua S. Robinson, Augusta Systems, Inc. (United States)
John Moody, Augusta Systems, Inc. (United States)
Stephanie Riddle, Naval Air Systems Command (United States)

Published in SPIE Proceedings Vol. 6962:
Unmanned Systems Technology X
Grant R. Gerhart; Douglas W. Gage; Charles M. Shoemaker, Editor(s)

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