Game-Based Human-Swarm Shared Formation Control Authority Transfer of Manned-Unmanned Aerial Team

Manned-unmanned aerial team combines the hybrid intelligences of the swarm and human to execute the dynamic and challenging tasks. The formation control authority is transferred between human pilot and unmanned aerial swarm. To address this issue, this paper has proposed a Stackelberg game-based human-swarm formation control authority transfer method for the manned-unmanned aerial team. First, the cooperative modes of the manned aircraft and the unmanned aerial swarm have been constructed in five levels of formation autonomy. Then, the Stackelberg game model is incorporated to design the control authority transfer method for the Nash equilibrium solution. Next, considering the formation task of manned-unmanned aerial team, the control laws of unmanned aerial swarm in the different autonomy level are given to implement the optimal game strategy. In this scenario, the simulation experiments show the proposed method could realize the optimal time-varying formation reconfiguration and reduce the control workload of the human pilot through the dynamic control authority transfer.