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1 DRONES - ENAC - Programme transverse Drones ENAC - Ecole Nationale de l-Aviation Civile 2 CTU - Czech Technical University in Prague

Abstract : The goal of the paper is to present an application of TARF Task Agent Resource Function in UAV domain. This TARF is used to optimize the tasks allocation in case of cooperation between multiple Unmanned Aerial Vehicles. It plays the role of a generic mission planner for cross domain such as UAV, maritime, automotive and manned aerial vehicle MAV. This paper concentrates on how to integrate TARF in Paparazzi platform - an UAV platform based on PPRZ autopilot - in order to perform a swarm of aircrafts doing different tasks. The TARF contributes a new module to this platform for the simulation and real demonstrations.





Author: Tan-Viet-Anh Truong - Petr Benda - Jiri Vokrinek -

Source: https://hal.archives-ouvertes.fr/



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