Collaborative Decision-Making for Optimal Control of a Heterogeneous UAV Swarm for Different Missions

Abstract

It is proposed that group flights of different types of UAVs be organized to simultaneously perform different missions within a common purpose safely, economically, and efficiently. The main problem is the lack of optimization of decisions and actions of the UAV group depending on the purposes of the task in conditions of uncertainty. According to the current ICAO requirements, using collaborative decision-making (CDM) models is relevant to improving the efficiency of decisions. A multi-stage CDM modeling with the gradual involvement of operators of different UAV types is considered. A CDM algorithm for various UAV operators to select the optimal solution under uncertainty during a UAV flight with Wald, Laplace, Hurwicz, and Savage criteria is developed. An example of synthesizing CDM models for selecting the optimal solution by remote pilots when performing terrain monitoring, search and detection of objects, and delivering of urgent cargo in case of flight complications or an emergency due to bad weather conditions, technical malfunctions, or other threats is determined.