Abstract
This article has presented a tightly integrated systems architecture for a decentralized CSAT mission management algorithm and demonstrated successful implementation in actual hardware flight tests. This CSAT architecture allows each UAV to accomplish a combined search and track mission by conceptualizing the searching aspect as a spare time strategy to be executed optimally over a short time horizon when the agents are not actively tracking a vehicle. This presented a balance between the two conflicting search and track modes and allowed the mission to achieve more than simply searching or tracking alone.
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