06.2 - Flight Dynamics and Control (UAV related)

ONBOARD MISSION MANAGEMENT FOR A DECENTRALIZED MULTI-UAV SYSTEM USING BEHAVIOR TREES

K. Thomessen¹, S. Schopferer¹, P. Nagarajan¹; ¹German Aerospace Center (DLR), Germany

We present an onboard mission management for a decentralized multi-UAV system using behavior-trees. For task (re-)assignment, a decentralized auction-based task assignment algorithm is integrated into the behavior tree to enable reactive behaviors to changing tasks. We demonstrate our system in an exemplary maritime surveillance use case in simulation.

View Paper

DOI: 10.71945/icas2026_0289