This paper compares some of the common tools and techniques that enable state-of-the-art systems to provide high-level control of mobile sensor networks. There is currently a great deal of interest in employing unmanned and autonomous vehicles in intelligence, surveillance, and reconnaissance operations. Although this paper addresses issues common to all mobile sensor networks, the applications presented are typically associated with autonomous vehicles. We focus specifically on three high-level areas: 1. mission definition languages that allow human users to compose missions defined in terms of tasks, 2. communication-addressing degradation and loss and relationship to underlying system architecture design, and 3. task allocation among the assets.

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