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26 May 2005 Autonomous collaborative mission systems (ACMS) for multi-UAV missions
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UAVs are a key element of the Army’s vision for Force Transformation, and are expected to be employed in large numbers per FCS Unit of Action (UoA). This necessitates a multi-UAV level of autonomous collaboration behavior capability that meets RSTA and other mission needs of FCS UoAs. Autonomous Collaborative Mission Systems (ACMS) is a scalable architecture and behavior planning / collaborative approach to achieve this level of capability. The architecture is modular and the modules may be run in different locations/platforms to accommodate the constraints of available hardware, processing resources and mission needs. The Mission Management Module determines the role of member autonomous entities by employing collaboration mechanisms (e.g., market-based, etc.), the individual Entity Management Modules work with the Mission Manager in determining the role and task of the entity, the individual Entity Execution Modules monitor task execution and platform navigation and sensor control, and the World Model Module hosts local and global versions of the environment and the Common Operating Picture (COP). The modules and uniform interfaces provide a consistent and platform-independent baseline mission collaboration mechanism and signaling protocol across different platforms. Further, the modular design allows flexible and convenient addition of new autonomous collaborative behaviors to the ACMS through: adding new behavioral templates in the Mission Planner component, adding new components in appropriate ACMS modules to provide new mission specific functionality, adding or modifying constraints or parameters to the existing components, or any combination of these. We describe the ACMS architecture, its main features, current development status and future plans for simulations in this report.
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Y.-L. Chen, M. Peot, J. Lee, V. Sundareswaran, and T. Altshuler "Autonomous collaborative mission systems (ACMS) for multi-UAV missions", Proc. SPIE 5820, Defense Transformation and Network-Centric Systems, (26 May 2005);

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