Task planning and execution for UAV teams

We design the attack of the Blue force of unmanned air combat vehicles (UAV), against Red´s ground force of SAM sites and radars. The design is structured in a two-level hierarchy of planning and execution. The plan, based on prior information, determines which targets are to be attacked and groups them into sub-tasks; allocates a UAV team to each sub-task; and selects a risk-minimizing path for each team. Execution is organized in a hierarchy of real-time controllers, which determine the actual flight path, weapons release, and space-time coordination of the actions of a UAV team. Plan development uses an algorithm that determines the sequence in which targets are to be attacked. Execution design is specified in Shift, a programming language for dynamic networks of hybrid automata.