Authority Sharing In Mixed Initiative Control Of Multiple Uninhabited Aerial Vehicles

In this paper we discuss a conceptual framework that supports operational scenarios with multiple UAVs and operators. These UAVs possess different levels of autonomy while the operators have variable skill sets. The scenarios themselves encompass different missions, with different phases (requiring different levels of attention from the operator) and with the occurrence of various exogenous events. This framework was employed in the development of a Command and Control (C2) application which is capable of operator advisement, self adaptation, and automatic task distribution among operators and UAVs, depending on mission objectives, phase and occurrences. This C2 application enables a clear overview of the remote environment by placing the operator closer to the control loop, whether it is at an abstract or low level of control. Consequently there is an improvement of task redistribution and situation awareness, as well as reduction of workload.