Supervised tactical mobility behavior modeling and control of multi-agent robotic vehicles

In this paper, we have discussed technical issues regarding supervised tactical mobility modeling and control of multi- agent robotic vehicles operating in unstructured environment. An integrated Supervisory Mobility Controller (SMC) has been developed that accommodates cooperative deployment of robotic vehicles in different modes of operation. Tactical behaviors of the mobile robots are initially modeled, tested, and validated in simulation environment under FMCell robotic software and then implemented into the SMC. The controller is used for development tactical mobility schemes for a group of six small-scale intelligent autonomous robot equipped with a variety of basic navigational sensors. In this paper, we describe functional and modular architecture of the Supervisory Mobility Controller and present some of our strategies for separation of supervisory functions according to their complexity, precedence, and intelligence. Furthermore, we have discussed intelligent schemes for supervised maneuverability control of our cooperative robotic vehicles. Some examples demonstrating practical applications of the newly developed techniques for military UGV's applications have been presented.