Real-Time Decision Making for Autonomous Flight Control

This paper describes a software system that makes real time decisions for an autonomous airplane in a simulated combat environment. It utilizes a network of plans and goals and selects them dynamically, according to the changing circumstances and to the mission goals. Architecture of the system allows for quick, hierarchical selection of plans and flexible execution by adjusting plan instantiation to the varying situation. The system monitors its own performance, checking for the safety, resources, and effectiveness of currently executed plans and dropping those that become dangerous or counterproductive. The architecture of the system allows for a prompt response to dangerous situations by suspending the currently executed plan and invoking an emergency plan. The system can follow commands from the formation leader or ground control. Commands may be very specific, but the system can also follow commands on higher levels of abstraction, deciding autonomously on necessary details.