AAMAS Conference 2026 Conference Paper
An Open-Source Framework for Closed-Loop Multi-UAV Planning and Execution
- Nico Michel
- Björn Björn Döschl
- Kai Sommer
- Maximilian Schnell
- Jane Jean Kiam
We present AUSPEX, an open-source framework that integrates deliberative and closed-loop planning and execution capabilities for multi-UAV systems. AUSPEX adopts a modular design, enabling the integration of heterogeneous UAV platforms, as well as different AI planners and execution logics. Hardware-in-the- Loop (HIL) validation tests were conducted on AUSPEX based on a Search and Rescue (SAR) scenario. Additionally, AUSPEX can be connected to third-party simulation environments for Software-inthe-Loop (SIL) tests. A video of the HIL-demonstration is available here: https: //youtu. be/Ml4c3v8C8X4.