Integrated Premission Planning and Execution for Unmanned Ground Vehicles

Abstract

Fielding robots in complex applications can stress the human operators responsible for supervising them, particularly because the operators might understand the applications but not the details of the robots. Our answer to this problem has been to insert agent technology between the operator and the robotic platforms. In this paper, we motivate the challenges in defining, developing, and deploying the agent technology that provides the glue in the application of tasking unmanned ground vehicles in a military setting. We describe how a particular suite of architectural components serves equally well to support the interactions between the operator, planning agents, and robotic agents, and how our approach allows autonomy during planning and execution of a mission to be allocated among the human and artificial agents. Our implementation and demonstrations (in real robots and simulations) of our multi-agent system shows significant promise for the integration of unmanned vehicles in military applications.