Expanding domains for multi-vehicle unmanned systems

In this paper, we present a modular multi-vehicle hardware and software architecture that expands swarm system capability into multiple domains and vehicle types. The Swarm Brick electronics stack integrates into various air and ground-based vehicles. The redesigned playbook style behavior architecture demonstrates reusability across missions and dissimilar platform types. This dual-track approach aims to advance swarm system scalability by further shifting the role of the operator from controller to supervisor. We discuss results of demonstrations conducted with the upgraded heterogeneous, multi-domain swarm system during simulation and live-fly field exercises.