|Article title||DEVELOPMENT OF PROTOTYPE SYSTEM FOR COORDINATED CONTROL OF UAVS IN GROUP USING MULTI-AGENT TECHNOLOGY|
|Authors||D.S. Budaev, G.Yu. Voschuk, N.A. Gusev, I.V. Majorov, A.N. Mochalkin|
|Section||SECTION I. GROUP CONTROL ROBOTS|
|Month, Year||10, 2015 @en|
|Abstract||Unmanned aerial vehicles (UAVs) are widely used in many spheres and industries. Some of the tasks solved with their help are of crucial importance. For example, use of unmanned vehicles for search and rescue operations while locating survivors. The time dedicated for performing such tasks is often very limited, that is why several devices can be used simultaneously. Difficulties in UAV operation can be caused by some unresolved problems in managing coordinated actions of joint UAV groups in real time. The solution is demonstrated by the use of a UAV group for surveying a certain area. In order to control the actions of the group it is proposed to use a coordinated control system based on multi-agent technology. The observation area is divided into separate squares (subtasks) which are planned and redistributed and then fulfilled by UAVs in a joint group. The interests of each device in the multi-agent system are represented by a separate soft-ware agent, and the process of allocation is based on the concept of demand and resource net- works and on the method of conjugated interactions. The efficiency of multi-agent planning can be evaluated with the help of several criteria. The paper proposes two criteria: square coverage within the observation area and communication among UAVs in a group. In the summary the paper dwells on the prospects of the developed prototype and its existing scientific and technological potential in developing software and hardware systems for UAV group management.|
|Keywords||UAVs; multi-agent systems; tasks scheduling; joint actions; swarm intelligence; optimization; adaptability; real time.|
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