Ever rising deployment of
Unmanned Aerial Assets
(UAAs) in complex military and rescue operations require novel and innovative methods for intelligent planning and collision avoidance among a high number of heterogeneous, semi-trusted flying assets in well specified and constrained areas [
]. We have studied the free flight concept as an alternative to the classical, centralized traffic control. In free flight the unmanned aerial assets are provided with flight trajectory that has been elaborated without consideration of other flying objects that may occupy the same air space. The collision threads are detected by each of the aircraft individually and the collisions are avoided by an asset-to-asset negotiation. Multi-agent technology is very well suited as a technological platform for supporting the free-flight concept among the heterogeneous UAAs. In this chapter we present AGENTFLY, multi-agent system for free-flight simulation and flexible collision avoidance.