A proposal of methodology for multi-UAV mission modeling

The emergence of multi-UAV missions poses a set of challenges. The control and monitoring of these missions requires to increase the autonomy of fleets and to reduce the workload of operators. The development of an appropriate mission model is fundamental not only for specification and planning but also for control and monitoring. This model allows determining the mission and fleet states and, therefore, providing the operator with adequate information of the mission. This paper poses a methodology to develop multi-UAV mission models and analyzes different modeling techniques, such as Petri nets or hidden Markov models.