Abstract
In recent years, Unmanned Aerial Vehicles (UAVs) have attracted much attention both in the research field and in the field of commercial deployment. Researchers recently started to study problems and opportunities connected with the usage, deployment and operation of teams of multiple autonomous UAVs. These multi-UAV scenarios are by their nature well suited to be modelled and simulated as multi-agent systems. In this paper we present solutions to the problems that we had to deal with in the process of integrating two hardware UAVs into an existing multi-agent simulation system with additional virtual UAVs, resulting in a mixed reality system where hardware UAVs and virtual UAVs can co-exist, coordinate their flight and cooperate on common tasks. Hardware UAVs are capable of on-board planning and reasoning, and can cooperate and coordinate their movement with one another, and also with virtual UAVs.
Highlights
The use of Unmanned Aerial Vehicles (UAVs) is growing nowadays thanks to the low cost of their deploying and maintaining them, and the possibility to operating them in areas inaccessible or dangerous for human pilots
Flight experiments involve a greater level of risk, since even minor errors can lead to serious crashes. For this reason mixed reality simulations, which allow integration of real hardware UAVs and simulated virtual UAVs to co-exist in one environment, are helpful and necessary in the development process
We integrated two hardware fixed wing UAVs into the AgentFly multi-agent system [8], which is used for simulating UAVs and air traffic, allows complex coordination and cooperation of agents, and provides collision avoidance mechanisms
Summary
The use of UAVs is growing nowadays thanks to the low cost of their deploying and maintaining them, and the possibility to operating them in areas inaccessible or dangerous for human pilots. To manage more sophisticated tasks such as area surveillance and monitoring or multiple target tracking, teams of multiple UAVs should be deployed This requires more complex control, coordination and cooperation mechanisms. Flight experiments involve a greater level of risk, since even minor errors can lead to serious crashes For this reason mixed reality simulations, which allow integration of real hardware UAVs and simulated virtual UAVs to co-exist in one environment, are helpful and necessary in the development process. The system does not allow the coexistence of hardware UAVs together with simulated UAVs. We integrated two hardware fixed wing UAVs into the AgentFly multi-agent system [8], which is used for simulating UAVs and air traffic, allows complex coordination and cooperation of agents, and provides collision avoidance mechanisms.
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