As Unmanned Aerial Vehicle (UAV) becomes a common place in military and commercial domains, there will be an increasing need for UAVs to cooperate as a unit in order to complete the mission. In the military scenario the UAVs might have to interact with each other in order to form reconnaissance team spanning a large area. Another scenario might be a swarm of UAVs, each having unique abilities, sent out to eliminate the enemy and to destroy key targets. While a significant body of research exists for the command and control of individual entities, very little has been done on multi-entity control. Key challenges exist on scaling the existing methods to truly large groups of UAVs. A promising approach is that of self-organization among cooperating autonomous agents. This paper focuses on developing a framework to support large-scale UAV operations.
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