Distributed UAV-Swarm Control Using BDI Agents

• Bruno de Lima UFSC
• Iago Silvestre UFSC
• Pedro Henrique Dias UFSC
• Leandro Buss Becker UFSC
• Jomi Fred Hübner UFSC
• Maiquel de Brito UFSC

Resumo

This paper describes the development of a swarm of autonomous unmanned aerial vehicles (UAVs) that collaborate with each other in forests firefighting. These vehicles are controlled by BDI agents. The solution is distributed and decentralized. Each agent, embedded in a UAV, uses its knowledge and resources to solve a broader problem.

Referências

Boissier, O., Bordini, R. H., Hübner, J., and Ricci, A. (2020). Multi-Agent Oriented Programming: Programming Multi-Agent Systems Using JaCaMo. MIT Press.

Bordini, R. H., Hübner, J. F., and Wooldrige, M. (2007). Programming Multi-Agent Systems in AgentSpeak using Jason. Wiley Series in Agent Technology. John Wiley & Sons.

Fahlstrom, P. G. and Gleason, T. J. (2012). Introduction to UAV Systems. John Wiley & Sons.

Koenig, N. and Howard, A. (2004). Design and use paradigms for gazebo, an open-source multi-robot simulator. In 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems, volume 3, pages 2149–2154.

Koubaa, A. (2017). Robot Operating System (ROS): The Complete Reference (Volume 2). Springer, 1st edition.