@INPROCEEDINGS{1429331,
  author={J. {Sousa} and T. {Simsek} and P. {Varaiya}},
  booktitle={2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601)}, 
  title={Task planning and execution for UAV teams}, 
  year={2004},
  volume={4},
  number={},
  pages={3804-3810 Vol.4},
  abstract={We design the attack of the Blue force of unmanned air combat vehicles (UAV), against Red's ground force of SAM sites and radars. The design is structured in a two-level hierarchy of planning and execution. The plan, based on prior information, determines which targets are to be attacked and groups them into sub-tasks; allocates a UAV team to each sub-task; and selects a risk-minimizing path for each team. Execution is organized in a hierarchy of real-time controllers, which determine the actual flight path, weapons release, and space-time coordination of the actions of a UAV team. Plan development uses an algorithm that determines the sequence in which targets are to be attacked. Execution design is specified in Shift, a programming language for dynamic networks of hybrid automata.},
  keywords={remotely operated vehicles;aircraft control;path planning;task planning;UAV teams;Blue force;unmanned air combat vehicles;Red ground force;SAM sites;radars;two level hierarchy;risk-minimizing path;flight path;weapons release;space-time coordination;real-time controllers;plan development;execution design;Shift language;Unmanned aerial vehicles;Land vehicles;Road vehicles;Radar;Automatic control;Weapons;Computer languages;Dynamic programming;Vehicle dynamics;Automata},
  doi={10.1109/CDC.2004.1429331},
  ISSN={0191-2216},
  month={Dec},}