Utilizing Navigational Capability to Control Cooperating Robotic Swarms in Reconnaissance-Based Operations

This paper focuses on the development of a methodology by which multiple, heterogeneous units can deliver discontinuous capability (such as that from a computer vision system) to a specified set of targets. The centralized coordination controller commands the units such that a specified level of capability is delivered to a set of target locations while accommodating obstacle avoidance and a spectrum of additional secondary objectives. The efficacy of the controller is demonstrated through simulation.