Abstract: Based on the scale and heterogeneity of the heterogeneous unmanned systems, this paper classifies the heterogeneous unmanned systems, proposes the composition and application assumptions of the cooperative combat teams of the heterogeneous unmanned systems. Based on the problem of the coordinated operations of the heterogeneous unmanned systems in urban environments, the challenges and solutions for the coordinated operations of the heterogeneous unmanned systems are proposed. Based on this, the key technologies of the heterogeneous unmanned system cooperative operations are analyzed from the main aspects of coordinated control architecture, coordinated task planning, intelligent interaction, target perception, and environmental awareness of the heterogeneous unmanned systems. Finally, the current research progress and challenges of the heterogeneous unmanned system cooperative operations are summarized.

Key words: Heterogeneous unmanned system, Cooperative operations, Underground combat environment, Urban operations