# Precise Mission Process Control Based on a Novel Dual-Code Group Network Plan Diagram
## 2 Problem Formulation
### Mission Process Control Problem Description  
The multi-actor, multi-stage collaborative group mission lies in the complexity of the mission logic. Failure of a single sub-mission may lead to global mission failure, i.e., the \"systemic risk\" of the mission is high. If there is a lack of process control during the execution of the task, some small disturbances, such as the delay or failure of a sub-mission, may lead to a total delay or failure of the entire mission. Therefore, it is necessary to implement control over the mission process. For the CSM, due to the high uncertainty of combat, a small disturbance during the execution of each UAV's respective sub-mission may cause the SM to be delayed. Therefore, it is necessary to design a real-time control system and develop a mission process control strategy that dynamically adjusts the plan to eliminate disturbances. There are some differences between ordinary project scheduling and control and the proposed issues of this article. * **Extremely high control precision. ** The purpose of this paper is to build an automated GCM management system. For a fully automated control system, it must master the precise time parameters of each sub-mission to ensure that each sub-mission is started accurately. The precision of the control can be accurate to the second or even less, which is much stricter than ordinary project management precision. * **Strict control goal. ** The goal of mission progress control is to ensure that the selected constant critical mission is strictly executed according to plan. It means that its start time is not acceptable to delay, because delays of constant critical missions can lead to some fatal losses in the implementation of GCMs. Figure 1: Scenario diagram of a multi-role, multi-stage group cooperative mission. Figure 2: The scenario of UAV swarm cooperative strike missions. * **Real time control strategy solving. ** The execution of each sub-mission is potentially perturbed. Complex collaborative relationships between sub-missions may have a knock-on effect due to the perturbation of a sub-task, resulting in the following missions being delayed. Therefore, the solving of control strategy must be real time. Mission process control is to take the plan as the object of control, with real-time monitoring of the implementation of the plan, eliminating disturbances, to ensure that the mission is completed on time. The complexity of multi-role, multi-stage group cooperative missions determines that automated control methods must be used instead of manual control. The primary goal of mission process control is to ensure that the current mission process \(s_{t}\) tracks the desired mission process \(s^{*}\):  
\[D(s_{t},s^{*})<\xi \tag{1}\]  
where, \(D(s_{t},s^{*})\) is a measure function of the mission process bias, and \(\xi\) is infinitesimal. The mission process control is to take some series of control actions \(\mathcal{A}\) on the initial plan \(p_{0}\) to adjust the current plan \(p_{t}\) and to guide the mission process towards the desired state. An action sequence \(\mathcal{A}\) can be represented as a finite set of actions \(\mathcal{A}=\{a_{0},a_{1},a_{2},\dots,a_{t},\dots\}\), \(t\in[0,T]\) within the total duration of the mission. A process control policy represents the way in which an agent acts based on its observations of a mission process. Specifically, a process control policy is a mapping \(\pi\) from each mission process \(s_{t}\) to a control action \(a_{t}\). \[a_{t}=\pi(s_{t}) \tag{2}\]  
The control action acts on the current plan \(p_{t}\in\mathcal{P}\), which is dynamically adjusted in real time according to the plan updating function \(\mu(\cdot)\) to obtain a new plan \(p_{t+1}\), i.e.,  
\[p_{t+1}=\mu(p_{t},a_{t}) \tag{3}\]  
We update the mission process \(s_{t+1}\) based on the new plan and implementation, i.e.,  
\[s_{t+1}=\vartheta(p_{t+1},\tau) \tag{4}\]  
where \(\tau\) is the various accidents and disturbances during mission execution and \(\vartheta\) is the mission execution function.