Development of Greedy Auction-based Distributed Decision-Making Algorithm and Agent Communication Language in Swarm Unmanned Aerial Vehicles

Distributed decision-making algorithms, which are task sharing methods that implement communication between unmanned aerial vehicles (UAVs), provide speed and practicality. In this study, Greedy Auction Based Distributed Decision-Making Algorithm (GCAA) and agent communication language development are presented in swarm UAVs. In order to provide communication between agents, air-to-air (A2A), air-to-ground (A2G) communication channels are created and the negotiation phase is provided through these communication channels. The proposed decentralized algorithm is compared with the centralized algorithm in environments where communication is interrupted and uninterrupted, and simulation results are given in MATLAB. It is observed that the developed distributed decision-making algorithm has shorter system cost, number of disabled agents and task duration depending on system parameters compared to the centralized algorithm.