Recently, there has been a fairly rapid increase in interest in the use of UAV swarms both in civilian and military operations. This is mainly due to relatively low cost, greater flexibility, and increasing efficiency of swarms themselves. However, in order to efficiently operate a swarm of UAVs, it is necessary to address the various autonomous behaviors of its constituent elements, to achieve cooperation and suitability to complex scenarios. In order to do so, a novel method for modeling UAV swarm missions and determining behavior for the swarm elements was developed. The proposed method is based on bigraphs with tracking for modeling different tasks and agents activities related to the UAV swarm mission. The key finding of the study is the algorithm for determining all possible behavior policies for swarm elements achieving the objective of the mission within certain assumptions. The design method is scalable, highly automated, and problem-agnostic, which allows to incorporate it in solving different kinds of swarm tasks. Additionally, it separates the mission modeling stage from behavior determining thus allowing new algorithms to be used in the future. Two simulation case studies are presented to demonstrate how the design process deals with typical aspects of a UAV swarm mission.

中文翻译：

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使用跟踪双反应式系统的AV群行为建模

最近，人们对民用和军事行动中使用无人机群的兴趣迅速增加。这主要是由于相对较低的成本，更大的灵活性以及群集自身效率的提高。然而，为了有效地操作成群的无人机，有必要解决其组成要素的各种自主行为，以实现协作和对复杂场景的适应性。为此，开发了一种用于对无人机群任务进行建模并确定群元素行为的新颖方法。所提出的方法是基于有向图的跟踪，用于对与无人机群任务有关的不同任务和特工活动进行建模。该研究的主要发现是一种算法，用于确定在某些假设下实现任务目标的群体元素的所有可能的行为策略。该设计方法具有可伸缩性，高度自动化且与问题无关，可以将其合并到解决各种群集任务中。另外，它将任务建模阶段与行为确定阶段分离开，从而允许将来使用新算法。提出了两个模拟案例研究，以演示设计过程如何处理无人机群任务的典型方面。它将任务建模阶段与行为确定阶段分离开，从而允许将来使用新算法。提出了两个模拟案例研究，以演示设计过程如何处理无人机群任务的典型方面。它将任务建模阶段与行为确定阶段分离开，从而允许将来使用新算法。提出了两个模拟案例研究，以演示设计过程如何处理无人机群任务的典型方面。