提出了动态环境下多无人机编队执行不同使命任务的自主协同控制系统结构。按照分层递阶的思想, 将多无人机编队作战系统分为两级分层控制结构和五层功能结构, 从不同层级实现无人机群的自主控制, 保证了机群指挥的统一性、控制的灵活性和系统的可扩展性; 采用灵活的系统通信结构以应对战场环境的不确定性; 个体无人平台之间局部相互作用引起的涌现行为及无人机功能编队之间的分布式任务规划, 自下而上地驱动作战系统的资源优化配置, 结合自上而下的系统指控组织动态适应性优化, 优化了系统指控组织结构, 有效地整合了战场资源。

A self-organizing framework is proposed for collaborative multi-UAV teams working with a small group of human operaters to execute a range of military missions under dynamic environment.The combat system is consisted of a two-layer hierarchical control architecture and a five-layer function architecture which facilities the autonomous cooperative control of UAV groups at different levels and insures the unity of command the flexibility of control and the expandability of system.A flexible communication structure is adopted to respond to the uncertainty of battlefield.The optimal configuration of resources is driven by the emergent behaviors resulted from local interactions among the unmanned assets and the distributed task planning among functional formations from bottom to top while dynamic adaptive optimization of C2 organization structure is realized from top to bottom thus can optimize the C2 structure and integrate the battlefield resources effectively.