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Team Situational Awareness for Distributed Unmanned Vehicles under Limited Communications
Maksim Kenzin, Igor Bychkov, Nikolai Maksimkin

Last modified: 2023-06-29


A high level of team situational awareness is essential during complex autonomous missions of unmanned vehicles. When a situation appears that needs inter-vehicle interaction for cooperative decision-making, the basic understanding of the current conditions ought to be identical within the group. To achieve this requirement, all emergent information of acute importance has to be promptly shared among team members. It is a nontrivial problem for large-sized and distributed robotic teams, especially under hard communication constraints.

The problem considered in this paper is to find a decentralized control strategy for search and survey operations of the robotic group providing the fastest way for any vehicle to aware the remaining team in case of any unexpected changes. A number of ruled-based heuristics and meta-heuristics are proposed to treat the problem. The comparison between the suggested approaches is made regarding both the quality of obtained solutions and the working speed.