Hierarchical System for Multiple-Agent Scenarios

Abstract : This paper presents a hierarchical architecture for the coordination and control of autonomous agents performing intelligent team operations. Each team consisting of multiple aerial and ground vehicles, uses a coordinated strategy through communication via a wireless network. As an exemplary case study, a pursuit-evasion scenario is developed. This paper also introduces the experimental setup for aerial and ground-based autonomous agents. The proposed scheme is currently under development for near future experiments.