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9 May 2006 Future of unmanned systems interoperability
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There are many challenges in the area of interoperability of unmanned systems: increasing levels of autonomy, teaming and collaboration, long endurance missions, integration with civilian and military spaces. Several currently available methods and technologies may aid in meeting these and other challenges: consensus standards development, formal methods, model-based engineering, knowledge and ontology representation, agent-based systems, and plan language research. We believe the future of unmanned systems interoperability depends on the integration of these methods and technologies into a domain-independent plan language for unmanned systems.
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John J Ackley, Robert L. Wade, and Daniel G. Gehring "Future of unmanned systems interoperability", Proc. SPIE 6230, Unmanned Systems Technology VIII, 62301Q (9 May 2006); doi: 10.1117/12.666217;

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