Collaborative Autonomy for Mapping, Search, and Pursuit

John G. Mooney, Stephen Haviland, Eric N. Johnson

Research output: Contribution to journalArticlepeer-review

1 Scopus citations


This paper describes the development and flight tests of a multi-aircraft collaborative architecture, focused on decentralized autonomous decision making to solve a scenario-driven challenge problem. The architecture includes two search coverage algorithms, a hide location detection technique, behavior estimation, and a target manipulation algorithm. The architecture was implemented on a pair of Yamaha RMAX helicopters outfitted with modular avionics, as well as an associated set of simulation tools. Simulation and flight test results for single-A nd multiple aircraft scenarios are presented. Further work suggested includes identification and development of more sophisticated evader models and pursuit algorithms.

Original languageEnglish (US)
Pages (from-to)167-184
Number of pages18
JournalUnmanned Systems
Issue number2
StatePublished - Apr 1 2016

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Automotive Engineering
  • Aerospace Engineering
  • Control and Optimization


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