Hierarchical contingency management system for mission planners
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Abstract
A system controls a team of vehicles. The system includes a plan dependency identifier, a contingency monitor, and an alert formulator. The plan dependency identifier analyzes a mission plan and identifies mission constraints of the mission plan. The contingency monitor continuously reviews execution of the mission plan for violations of the mission constraints. The alert formulator determines whether a part of the mission plan is threatened by a violation of one of the mission constraints.
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Citations
39 Claims
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1-20. -20. (canceled)
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21. A non-transitory computer readable medium containing executable instructions for controlling a team of vehicles, with each vehicle having an associated set of capabilities, said executable instructions comprising:
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a plan dependency identifier configured to analyze a mission plan and identify mission constraints of the mission plan; a contingency manager configured to continuously review execution of the mission plan for violations of the mission constraints, the contingency monitor being configured to map tasks of the mission plan into an hierarchy such that a given task in a first layer of the hierarchy of tasks can have at least one component task in a second layer of the hierarchy; an alert formulator configured to determine whether a part of the mission plan is threatened by a loss of a first vehicle of the team of vehicles; and a mission planner configured to receive alerts from said alert formulator and modify only parts of the mission plan necessitated by the alerts, such that the mission planner generates a new mission plan comprising modified tasks and unmodified tasks. - View Dependent Claims (22, 23)
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24-25. -25. (canceled)
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26. A system for controlling a team of unmanned vehicles, said system comprising:
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the team of unmanned vehicles, each vehicle having an associated set of capabilities, such that the team of unmanned vehicles includes a first vehicle, having a first set of capabilities, and a second vehicle having a second set of capabilities that is different from the first set; a mission planner configured to generate a mission plan comprising a plurality of tasks organized hierarchically such that a given task in a first layer of an hierarchy of tasks can require a first associated level of autonomy and can have at least one component task in a second layer of the hierarchy requiring a second associated level of autonomy that is less than the first level of autonomy, and assign at least one vehicle of the team of vehicles to each task according to the level of autonomy associated with the task and the respective sets of capacities associated with the team of vehicles; and a contingency manager configured to determine if one of the loss of the first vehicle of the team of vehicles and the loss of a capacity associated with the first vehicle threatens an execution of the mission plan and, if execution of the mission plan is threatened, to direct the mission planner to assign a new vehicle of the team of vehicles to a task associated with the first vehicle according to the level of autonomy associated with the task and the respective sets of capacities associated with the team of vehicles. - View Dependent Claims (27, 28, 29, 30, 31, 32)
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33. A non-transitory computer readable medium containing executable instructions for controlling a team of unmanned vehicles, each vehicle having an associated set of capabilities, such that the team of unmanned vehicles includes a first vehicle, having a first set of capabilities, and a second vehicle having a second set of capabilities that is different from the first set, said executable instructions comprising:
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a mission planner configured to generate a mission plan comprising a plurality of tasks organized hierarchically such that a given task in a first layer of an hierarchy of tasks can require a first associated level of autonomy and can have at least one component task in a second layer of the hierarchy requiring a second associated level of autonomy that is less than the first level of autonomy, and assign at least one vehicle of the team of vehicles to each task according to the level of autonomy associated with the task and the respective sets of capacities associated with the team of vehicles; and a contingency manager configured to determine if one of the loss of the first vehicle of the team of vehicles and the loss of a capacity associated with the first vehicle threatens an execution of the mission plan and, if execution of the mission plan is threatened, to direct the mission planner to assign a new vehicle of the team of vehicles to a task associated with the first vehicle according to the level of autonomy associated with the task and the respective sets of capacities associated with the team of vehicles. - View Dependent Claims (34, 35, 36, 37, 38, 39)
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Specification