Distributed Coordination and Control Experiments
on the 4 Rover Testbed

Indoor results using the rovers to perform a representative SEAD mission. The four rovers were subdivided into two pairs of strike and BDA teams which were each assigned two targets around one centrally located avoidance region.

We demonstrate the ability to dynamically reassign tasks during this scenario when one of the BDA vehicles (Rover 1) is stopped before completing all of its tasks and the second BDA member has to finish the set. One vehicle is also given the capability to strike the lower SAM site (represented by the dashed blue lines) and once this is completed the second vehicle in the team is capable of passing through the region.