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Meeting	ACGS Committee Meeting 117 - Napa, CA - March 2016
Agenda Location	9 SUBCOMMITTEE A – AERONAUTIC AND SURFACE VEHICLES 9.2 Safe and Mission Efficient Cooperation of Autonomous and Heterogeneous Vehicles
Title	Safe and Mission Efficient Cooperation of Autonomous and Heterogeneous Vehicles
Presenter	Bruno Lamiscarre
Affiliation	ONERA
Available Downloads*	presentation video
	Downloads are available to members who are logged in and either Active* or attended this meeting.
Abstract	This paper is based on several past and current ONERA projects first focused on the autonomy of a particular system providing the ability to adapt to uncertain or unknown internal or external conditions. For instance, a ground robot, or an aerial robot can achieve a perception of the environment and continuously adapt the plan he has to follow to achieve its mission. The optimal trajectories are planned and executed by the guidance and control algorithms. As far as aerial systems are concerned, the autonomous capabilities should also provide a high level of safety that should be demonstrated and endorsed by the Air Space operator, ie the Civil or the Military Aviation Authority. The paper also addresses the cooperation of heterogeneous automous vehicules, for instance aerial and ground vehicules. These systems need to have several properties as the flexibility of the plans given the uncertain constraints and the targeted performances, as the modularity and adaptability of the embedded software systems. We developed several methods and tools to guarantee these properties and achieve full scale demonstrations.