An Open-Source Framework for Closed-Loop Multi-UAV Planning and Execution

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.

Authors

• Nico Michel Department of Aerospace Engineering, University of the Bundeswehr Munich
• Björn Björn Döschl Department of Aerospace Engineering, University of the Bundeswehr Munich
• Kai Sommer Department of Aerospace Engineering, University of the Bundeswehr Munich
• Maximilian Schnell Department of Aerospace Engineering, University of the Bundeswehr Munich
• Jane Jean Kiam Department of Aerospace Engineering, University of the Bundeswehr Munich

Keywords

• multi-UAV system
• AI planning and execution
• decision-making
• search and rescue