Integrated multi-agent system framework: decentralised search, tasking and tracking

This study is concerned with integrated target search, tasking and tracking using multiple fixed-wing unmanned air vehicles (UAVs). The problem is to design control logic and optimise flight paths for UAVs. The fixed-wing UAVs are required to cooperatively search the potential targets in the area of operation (AO) and keep monitoring and tracking the found targets according to a certain predefined minimal revisit time. Each UAV can only communicate with its neighbours and also flight autonomy is designed for individual UAVs. High level control logic based on finite state automaton model, integrating the four modes of operations, that is, take-off mode, fly-to-AO mode, search mode and tracking mode, is developed. For the target search, an improved decentralised coverage based algorithm is designed for fixed-wing UAVs. Task assignment is developed based on contract net protocol. For the target tracking, the optimal paths are derived for the UAVs to continuously monitoring multiple static targets. The developed integrated multi-agent system is evaluated by a hybrid three-dimensional simulation system using a real miniature fixed-wing UAV dynamic model.