A Control Scheme for Measure of Performance and Efficiency of Tactical Cooperative Robots

We have discussed technical issues regarding supervised world perception modeling and task planning of cooperative mobile robots performing tactical tasks in unstructured environment. We have introduced a hierarchy Supervisory Controller for robust cooperative task deployment of heterogeneous semiautonomous robotic vehicles. Primarily, we have described functional and modular architecture of the Supervisory Controller and presented our strategies for separation of supervisory functions according to their level abstraction, complexity, precedence, and intelligence. Furthermore, we have discussed control schemes for measure of performance and measure of efficiency of our cooperative robots tested under different task situations. Results indicate the hybrid Supervisory controller performs satisfactorily in most simulated cases.