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This paper describes ongoing research by Georgia Tech into the challenges of tasking and controlling heterogonous teams of unmanned vehicles in mixed indoor/outdoor reconnaissance scenarios. We outline the tools and techniques necessary for an operator to specify, execute, and monitor such missions. The mission specification framework used for the purposes of intelligence gathering during mission execution are first demonstrated in simulations involving a team of a single autonomous rotorcraft and three ground-based robotic platforms. Preliminary results including robotic hardware in the loop are also provided.

Mission specification and control for unmanned aerial and ground vehicles for indoor target discovery and tracking