基于合同机制的多UCAV分布式协同任务控制

 针对集中式控制的不足，采用基于合同机制的分布式控制方法对多无人作战飞机（UCAV）协同任务控制问题开展研究。设计了有限中央控制下的分布式控制体系结构，以支持UCAV在任务控制站的监控下实现不同级别上的自治。在通过合同网协议实现动态任务分配的基础上，建立条件合同机制对任务执行过程进行协调，提高了多UCAV协同作战的效能。采用时间约束网络对UCAV的任务计划进行量化表达，保证了多UCAV战术行为配合的准确实现。仿真结果验证了方法的有效性。

Distributed Cooperative Mission Control Based on Contract Mechanism for Multiple Unmanned Combat Aerial Vehicles

To overcome the limitations of centralized control methods for multiple unmanned combat aerial vehicles (UCAVs) cooperative mission control,the distributed control technique based on contract mechanisms is studied.Distributed control architecture with limited centralized control is designed,which supports UCAVs to perform at hierarchical autonomy levels under the supervision of the mission control station.Contract net protocols are applied to resolve dynamic task allocation,and a new condition-based contract mechanism is established to coordinate the mission execution process,so that the total combat utility of UCAVs can be improved.The mission plan model of UCAV is quantificationally represented by temporal constrain networks,which ensures that the tactical behavior coordination of multiple UCAVs can be accurately realized.Simulation results demonstrate the effectiveness of the approach.