Autonomous Situational Awareness for Robotic Swarms in High-Risk Environments

This paper describes a technique for the autonomous mission planning of robotic swarms in high risk environments where agent disablement is likely. Given a swarm operating in a known area, a central command system generates measurements from the swarm. If those measurements indicate changes to the m...

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Bibliographic Details
Published inarXiv.org
Main Authors Hill, Vincent W, Thomas, Ryan W, Larson, Jordan D
Format Paper
LanguageEnglish
Published Ithaca Cornell University Library, arXiv.org 11.05.2021
Subjects
Algorithms
Mission planning
Multiple target tracking
Situational awareness
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Summary:This paper describes a technique for the autonomous mission planning of robotic swarms in high risk environments where agent disablement is likely. Given a swarm operating in a known area, a central command system generates measurements from the swarm. If those measurements indicate changes to the mission situation such as target movement or agent loss, the swarm planning is updated to reflect the new situation and guidance updates are broadcast to the swarm. The primary algorithms featured in this work are A* pathfinding and the Generalized Labeled Multi-Bernoulli multi-object tracking method.
ISSN:2331-8422