Abstract

We discuss the development, integration, simulation, and flight test of a manned vehicle UAV mission system in a partially-known environment. The full control system allows a manned aircraft to issue mission level commands to an autonomous aircraft in realtime. This system includes a Natural Language (NL) Interface to allow the manned and unmanned vehicle to communicate in languages understood by both agents. The unmanned vehicle implements a dynamic mission plan determined by a weapons systems officer (WSO) on the manned vehicle. The unmanned vehicle uses a Mixed-Integer Linear Programming (MILP) based trajectory planner to direct the vehicle according to the mission plan. We provide simulation and test results for this system using an integrated computer-based simulation and the vehicle hardware testing in late June 2004. The activities described in this paper are part of the Capstone demonstration of the DARPA-sponsored Software Enabled Control effort.

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