Cooperative and Decentralized Decision-Making for Loyal Wingman UAVs

  • Luiz Giacomossi ITA
  • Stiven Schwanz Dias Technische Universiteit Eindhoven
  • José Fernando Brancalion EMBRAER S. A.
  • Marcos R. O. A. Maximo ITA


With the application of decision-making techniques, it is possible to automate many of the intelligent decisions of UAVs, leaving human commanders to focus on higher-level decisions in modern warfare scenarios, providing a crucial tactical advantage. This paper applies key methods to enable decentralized decision-making for autonomous combat UAVs, also known as loyal wingman (LW) drones. A simulator was developed to simulate to implement and analyze the behaviors of the so-called LW. We used as the main decision-making technique the construction of a behavior tree (BT) capable of providing decisions in a decentralized manner, and for parameters optimization, the PSO optimization algorithm was used. Our approach shows a promising result of threat elimination efficiency of approximately 93%.
Palavras-chave: Conferences, Decision making, Education, Approximation algorithms, Robots, Optimization, Drones, Cooperative engagement capability, manned-unmanned teaming, loyal wingman, Decision-Making techniques
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GIACOMOSSI, Luiz; DIAS, Stiven Schwanz; BRANCALION, José Fernando; MAXIMO, Marcos R. O. A.. Cooperative and Decentralized Decision-Making for Loyal Wingman UAVs. In: SIMPÓSIO BRASILEIRO DE ROBÓTICA E SIMPÓSIO LATINO AMERICANO DE ROBÓTICA (SBR/LARS), 13. , 2021, Online. Anais [...]. Porto Alegre: Sociedade Brasileira de Computação, 2021 . p. 78-83.