CCAST: A Framework and Practical Deployment of Heterogeneous Unmanned System Swarms

Individual semi-autonomous unmanned systems have already proven to be useful in a variety of use cases including movie production, agriculture, civil engineering, military operations and insurance [1]. Likewise, small groups of unmanned systems have shown promise, particularly when coordinating to achieve a common goal [3]. Less studied are the potential benefits of large swarms comprising hundreds of capable unmanned systems, likely due to the difficulties associated with creating, or even simulating, such a system. Swarming unmanned systems operate in an environment with a large number of simultaneously moving vehicles, with extensive coordination in real time using mobile communication over a rapidly shifting and dynamic environment. They are often operating in confined areas, moving at speeds of several meters per second, and combining outdoor and indoor coordination.