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Sense and Avoid in UAS: Research and Applications by Plamen Angelov

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9

AgentFly: Scalable, High-Fidelity Framework for Simulation, Planning and Collision Avoidance of Multiple UAVs

David Šišlák, Pemysl Volf, Štpán Kopiva and Michal Pchouek

Czech Technical University, Prague, Czech Republic

AgentFly is a software prototype providing intelligent algorithms for autonomous unmanned aerial vehicles. AgentFly is implemented as a scalable multi-agent system in JAVA running on the top of the Aglobe platform [1] which provides flexible middle-ware supporting seamless interaction among heterogenous software, hardware and human actors. Thanks to JAVA, AgentFly can easily be hosted on UAVs or computers with different operating systems. The multi-agent approach [2] provides straightforward mapping – each airplane is controlled by one agent. Agents integrate intelligent algorithms providing a coordination-based control for autonomous UAVs. In the presented work, only algorithms which are fully distributed among airplanes are used. Such algorithms provide a real autonomous ...

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