Scenario-case coordinated control of heterogeneous ensembles of unmanned aerial vehicles

This paper presents a scenario-case approach to coordinated control of heterogeneous ensembles of unmanned aerial vehicles, which is based on repeatability of vehicle's activity of interactions as the coordination stereotypes for similar situations. In this approach, each case contains scenarios of activity for each role in the ensemble. Description of situations is generalized to a spatial configuration defined on discrete space. The case for execution is selected based on spatial configuration; the scenarios that contains in this case are corrected dynamically due to observed events. The coordinated control of vehicles ensemble is implemented as three-layer system, which allows each vehicle makes relevant decisions in real time situations.