Context-Aware Mission Planning and Decentralized Execution for Heterogeneous Teammates in Dynamic Environments

Abstract

This paper presents a novel concept for a context-aware framework for mission planning and
decentralized execution that integrates heterogeneous teammates such as autonomous drones,
agents, and human responders into a unified, resilient system for dynamic operational scen-
arios. At the operational level, the system utilizes a Mission Planning function that receives
high-level objectives, interprets mission intent, and decomposes complex objectives into a series
of clear, actionable Mission-Essential tasks and sub-tasks. The process leverages contextual in-
formation from various sources such as sensor feeds, human reports and operational databases
to dynamically assess resource availability and execution timing, while also considering opera-
tional constraints, including ethical constraints, and cost considerations. The system orchestrates
a two-tier command structure, where the first level ensures that subordinates possess a robust
understanding of mission objectives and the autonomy to adapt to changes in its operational en-
vironment. The second level comprises of diverse agents with varying levels of autonomy and
capabilities, enabling iterative adaptation and collaboration. Experiments will be conducted in
dynamic scenarios, such as deploying diverse drone platforms for Intelligence, Surveillance and
Reconnaissance, and Search and Rescue missions to validate the framework’s feasibility. This
research aims to develop context-awareness for system adaptation to its operational environment
with a safety-monitoring function to enhance the safety, adaptability, and efficiency of coordin-
ated drone-human teams in operational applications.