Preliminary Experimental Results of Context-Aware Teams of Multiple Autonomous Agents Operating under Constrained Communications

by   Jose Martinez-Lorenzo, et al.

This work presents and experimentally test the framework used by our context-aware, distributed team of small Unmanned Aerial Systems (SUAS) capable of operating in real-time, in an autonomous fashion, and under constrained communications. Our framework relies on three layered approach: (1) Operational layer, where fast temporal and narrow spatial decisions are made; (2) Tactical Layer, where temporal and spatial decisions are made for a team of agents; and (3) Strategical Layer, where slow temporal and wide spatial decisions are made for the team of agents. These three layers are coordinated by an ad-hoc, software-defined communications network, which ensures sparse, but timely delivery of messages amongst groups and teams of agents at each layer even under constrained communications. Experimental results are presented for a team of 10 small unmanned aerial systems tasked with searching and monitoring a person in an open area. At the operational layer, our use case presents an agent autonomously performing searching, detection, localization, classification, identification, tracking, and following of the person, while avoiding malicious collisions. At the tactical layer, our experimental use case presents the cooperative interaction of a group of multiple agents that enable the monitoring of the targeted person over a wider spatial and temporal regions. At the strategic layer, our use case involves the detection of complex behaviors-i.e. the person being followed enters a car and runs away, or the person being followed exits the car and runs away-that requires strategic responses to successfully accomplish the mission.


page 1

page 2

page 3

page 4

page 5

page 6


Open Ad Hoc Teamwork using Graph-based Policy Learning

Ad hoc teamwork is the challenging problem of designing an autonomous ag...

Information Signal Design for Incentivizing Team Formation

We study the use of Bayesian persuasion (i.e., strategic use of informat...

Monitoring Teams by Overhearing: A Multi-Agent Plan-Recognition Approach

Recent years are seeing an increasing need for on-line monitoring of tea...

Deep Neural Network-based Cooperative Visual Tracking through Multiple Micro Aerial Vehicles

Multi-camera full-body pose capture of humans and animals in outdoor env...

Toward Autonomous Rotation-Aware Unmanned Aerial Grasping

Autonomous Unmanned Aerial Manipulators (UAMs) have shown promising pote...

Cooperative UAVs Gas Monitoring using Distributed Consensus

This paper addresses the problem of target detection and localisation in...

Efficient Concurrent Design of the Morphology of Unmanned Aerial Systems and their Collective-Search Behavior

The collective operation of robots, such as unmanned aerial vehicles (UA...

Please sign up or login with your details

Forgot password? Click here to reset