Patch models and their applications to multi-vehicle control

We introduce patch models, a computational modeling formalism for multi-vehicle domains. The unique feature of these models is that they are rich enough to represent controlled dynamics, while being simple enough to be manipulated by automated decision processes and humans. This capability is derived from the use of formal representations of space and time developed in the computer science community, and the idea of encapsulated path planning for hiding details of system dynamics from decision-makers. The models permit the construction of abstraction-based command and control systems. Major features include support for multiple situation models and rapid plan adaptation. We describe the formal specification of patch models and present evaluation results in the form of a three-team, seven-agent combat case study simulated on Patchworks, our implementation of patch models