Mobile Robot Lab Home

NAVAIR Intelligent Autonomy AL-UAV Scenarios

Directions to the Lab
This page serves as a repository of multimedia and information concerning the application of the premission and runtime case-based reasoning (CBR) mission specification and contract net protocol (CNP) based task allocation architectures to scenarios utilizing air-launched unmanned aerial vehicles (AL-UAV). In addition, this page will also serve to provide multimedia demonstrations of the integration of the mission specification system, MissionLab, with a NAVAIR MURC control station.

  Relevant Publications
  • A.R. Wagner, Y. Endo, P. Ulam, and R.C. Arkin, "Multi-robot User Interface Modeling", 2006. pdf
  • P. Ulam, Y. Endo, A.R. Wagner, and R.C. Arkin, "Integrated Mission Specification and Task Allocation for Robot Teams - Part 1: Design and Implementation", 2006. pdf
  • P. Ulam, Y. Endo, A.R. Wagner, and R.C. Arkin, "Integrated Mission Specification and Task Allocation for Robot Teams - Part 2: Testing and Evaluation", 2006.pdf

  Additional Information
  • A short presentation over the application of the CBR and CNP mission specification architectures to AL-UAV scenarios.   Slides

  • This movie depicts multiple AL-UAV's performing an anti-surface warfare mission using the CBR and runtime-CNP architecture. During the mission, the command and control aircraft detects targets (indicated by circular regions in the display). As each target is detected, the command and control aircraft initiates an auction for a tracking task. The deployed AL-UAVs bid on the tasks and the highest bidder is assigned to investigate the target and track its movements. During mission execution, one of the AL-UAV fails and forces the team to adapt via task reallocation.
    Multi AL-UAV ASW Mission

  • These two movies depict the generation of two coastal reconnaissance missions for teams consisting of one and three AL-UAVs using the CBR and premission-CNP system. The mission consists of three tasks: patrolling the southern portion of the coast, tracking any targets leaving from the pier, and patrolling the northern portion of the coast. In the single AL-UAV mission, the system generates a mission plan in which the tasks are performed in order, first examining the southern coast and reporting back any vessels found, then examining the pier area and tracking any vessels found, etc. In the multi AL-UAV mission, the CBR and premission-CNP system seamlessly generates an appropriate three AL-UAV mission to perform the required tasks. After deployment, each AL-UAV moves to the designated position and performs the task assigned at mission creation. While executing the mission, vessels that have been located but not identified are indicated by circular regions in the mission area.
    Single AL-UAV Coastal Reconnaissance
    Multiple AL-UAV Coastal Reconnaissance

  • This movie demonstrates the integration of a NAVAIR MURC control station with the robotic software toolset, MissionLab. In this demonstration, a mission is created where an unmanned surface vehicle (USV) navigates autonomously to a location where it participates in STANAG 4586 "vehicle discovery" and allows control to be handed over to a NAVAIR MURC control station. The MURC operator then tasks the vehicle to perform a patrol mission.
    MissionLab/MURC Integration

  • This movie demonstrates an anti-submarine warfare conducted by two AL-UAVs. In this mission, the AL-UAVs travel to predetermined waypoints. Once they have arrived at the waypoint, the AL-UAVs descend to low altitudes where they can use their magnetic anomaly detectors to search for submarines. If vessels are detected, they are then reported to the command and control aircraft.
    Anti-Submarine Warfare Mission