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Ground tactical mission support by multi-agent control
of UAV operations
ˇ ˇ
Jirí Vokrínek, Peter Novák and Antonín Komenda
Agent Technology Center
Dept. of Cybernetics, Faculty of Electrical Engineering,
Czech Technical University in Prague
Czech Republic
Abstract Autonomous control of group of unmanned aerial vehicles based on
task allocation mechanisms shows great potential for ground tactical mission sup-
port. We introduce experimental simulation system combining flexible mission
control of ground assets in urban environment and autonomous aerial support
utilizing multi-agent problem solving techniques. Two case-studies are presented
for evaluation – cooperative area surveillance and dynamic target tracking with
undervalued number of assets. We show the strength and benefits of multi-agent
task allocation and delegation mechanisms in such dynamic scenarios mainly in
case of limited number of assets.
1 Introduction
In the recent decade the state of technology in robotics achieved a degree allowing
routine deployment of unmanned assets in real-world scenarios. Nowadays, many tac-
tical missions, be it e.g., disaster relief search rescue operations, military missions
in mountainous, urban, air or underwater environments rely on deployment of tele-
operated robots, such as various unmanned aerial vehicles including conventional fixed-
wing aircrafts, vertical-take-off-and-landing helicopters, robotic cars or underwater glid-
ers. With a growing need to deploy multiple assets in the field in order to efficiently fulfil
a mission, the tele-operation control mode, however, results in a need for employment
of multip
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