A system collaboratively and autonomously plans and controls a team of
unmanned vehicles within an environment. A mission planning component
creates a mission plan for a plurality of members of the team of unmanned
vehicles. The mission planning component creates a task plan for each
member based on the mission plan. A collaboration component assigns
members to the team and roles for the assigned members. The collaboration
component updates membership and roles of the members based on the
changing situation of the environment. A situational awareness component
evaluates the changing situation of the environment based on information
from the assigned members of the team. A contingency management component
monitors the changing situation of the environment. The contingency
management component monitors changes of capabilities of the assigned
members of the team and execution of the mission plan and task plans. The
contingency management component determines whether to update any of the
group consisting of the mission plan and the task plans. A vehicle
management component controls movement of each assigned member based on
the task plan of each assigned member.