Task planning and control for a multi-UAV system: architecture and algorithms

This paper presents a decisional architecture and the associated algorithms for multi-UAV (unmanned aerial vehicle) systems. The architecture enables different schemes of decision distribution in the system, depending on the available decision making capabilities of the UAVs and on the operational constraints related to the tasks to achieve. The paper mainly focuses on the deliberative layer of the UAVs: we detail a planning scheme where a symbolic planner relies on refinement tools that exploit UAVs and environment models. Integration effort related to decisional features is highlighted, and preliminary simulation results are provided.