异构无人系统协同作战关键技术综述

针对异构无人系统的规模、异构性强弱，对异构无人系统进行了分类，引入了异构无人系统协同作战班组的概念以及应用设想，并通过城市环境中异构无人系统协同作战问题为牵引，提出了异构无人系统协同作战面临的挑战与解决思路，在此基础之上，从异构无人系统协同控制架构、协同任务规划、智能交互、目标感知、环境感知等主要方面对异构无人系统协同作战的关键技术进行了分析，最后对异构无人系统协同作战目前的研究进展与挑战进行了总结。

Summary of Key Technologies for Heterogeneous Unmanned System Cooperative Operations

Based on the scale and heterogeneity of the heterogeneous unmanned systems, this paper classifies the heterogeneous unmanned systems, proposes the composition and application assumptions of the cooperative combat teams of the heterogeneous unmanned systems. Based on the problem of the coordinated operations of the heterogeneous unmanned systems in urban environments, the challenges and solutions for the coordinated operations of the heterogeneous unmanned systems are proposed. Based on this, the key technologies of the heterogeneous unmanned system cooperative operations are analyzed from the main aspects of coordinated control architecture, coordinated task planning, intelligent interaction, target perception, and environmental awareness of the heterogeneous unmanned systems. Finally, the current research progress and challenges of the heterogeneous unmanned system cooperative operations are summarized.