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Human-in-Loop Hierarchical Control of Multi-UAV Systems

Shripad Gade, Ashok Joshi

Abstract


Unmanned Aerial Systems (UAS) possess tremendous capabilities to perform search, tracking and situation assessment in hazardous environments. However, it sometimes becomes critical to include a human component and offset the limited reasoning of agents. This paper presents Human-in-Loop (HiL) control architecture for distributed and cooperative target search. Hierarchical autonomy provides tight control over the system, enhancing operational reliability, search efficiency and effectiveness. Human feedback also provides significant edge in terms of mission reconfiguration.

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References


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DOI: http://dx.doi.org/10.21535%2FProICIUS.2013.v9.409

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