MIT MICA Cooperating Multi-vehicle Teams

Rapid Planning Algorithms for Cooperating Multi-vehicle Teams

Goal: Develop a general methodology for the team tasking and cooperative path planning components of hierarchical coordination architecture for teams of UAV's.

Our approach is based on a tight integration of:

		Kirk is a fast model-based mission planner/executiveaddresses the temporal planning
		Mixed-integer linear programming ( MILP ) is used for the trajectory/spatial planning.

This combination provides a very flexible planning framework that can be used to perform:

		Temporal planning,
		Trajectory planning and optimization , and
		Real-time task re-assignment within the team.

Typical Mission Scenario

MIT Team

Jonathan P. How Professor Department of of Aeronautics and Astronautics	jhow@mit.edu	37 - 391	(617) 253 - 3267
Brian C. Williams Professor Department of of Aeronautics and Astronautics	williams@mit.edu	37- 381 NE43-838	(617) 253 -1678 (617) 253 - 2739
James D. Paduano Principal Research Engineer Department of of Aeronautics and Astronautics	jdpaduan@mit.edu	31-213	(617) 253 - 6047
Howard E. Shrobe Principal Research Scientist MIT Artificial Intelligence Laboratory	hes@ai.mit.edu	NE43-839	(617) 253 - 7877

John S. Bellingham
Research Assistant
Department of Aeronautics and Astronautics

john_b@mit.edu

33-409

(617) 253 - 3132

DARPA Mixed Initiative Control of Automa-Teams ( MICA )

Program Manager: Sharon Heise