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Bellingham, J., Tillerson, M., Richards, A. and How, J.P. (2003) Multi-Task Allocation and Path Planning for Cooperative UAVs. In: Butenko, S., Murphey, R. and Pardalos, P.M., Eds., Cooperative Control: Models, Applications and Algorithms, Kluwer Academic Publishers, Boston, 23-39.

has been cited by the following article:

• TITLE: Central Command Architecture for High-Order Autonomous Unmanned Aerial Systems

  AUTHORS: Larry M. Silverberg, Chad Bieber

  KEYWORDS: Unmanned Aerial Vehicles, Autonomy, Central Command, High-Order Systems, Deconfliction

  JOURNAL NAME: Intelligent Information Management, Vol.6 No.4, July 8, 2014

  ABSTRACT: This paper is the first in a two-part series that introduces an easy-to-implement central command architecture for high-order autonomous unmanned aerial systems. This paper discusses the development and the second paper presents the flight test results. As shown in this paper, the central command architecture consists of a central command block, an autonomous planning block, and an autonomous flight controls block. The central command block includes a staging process that converts an objective into tasks independent of the vehicle (agent). The autonomous planning block contains a non-iterative sequence of algorithms that govern routing, vehicle assignment, and deconfliction. The autonomous flight controls block employs modern controls principles, dividing the control input into a guidance part and a regulation part. A novel feature of high-order central command, as this paper shows, is the elimination of operator-directed vehicle tasking and the manner in which deconfliction is treated. A detailed example illustrates different features of the architecture.