"Originally, we had only one type of reconnaissance ground robot. Currently, we have three – Orpheus-XR, Scout-mini for terrain imaging with an RGB camera, and Hermes – a small reconnaissance robot that can be transported to inaccessible locations by the largest drone in our swarm," explains project leader Petr Marcoň from FEEC BUT.

Experts are developing the multi-agent system primarily for the Czech Army, which can use it in cases such as a chemical plant accident, a dirty bomb attack, or a military strike. However, other security forces could also utilize the system for chemical, biological, and nuclear defense. It enables a fast and detailed reconnaissance of areas that pose risks to humans.

The drones are equipped not only with standard and thermal imaging cameras but also with radiation detectors. In the event of radioactive material leakage, they can remotely measure radiation levels. The information is then sent to the command center, which directs robots to investigate specific GPS coordinates with increased radiation risk. Ground robots immediately move to the location to obtain more precise measurements.

"The entire swarm can automatically explore the terrain without manual control. If one of the drones fails – whether due to enemy interference or adverse weather conditions – the system autonomously resolves the task using automatic reconfiguration and artificial intelligence algorithms, which adjust the routes of individual drones and complete the mission," adds Marcoň, noting that the level of autonomy is much higher than initially expected.

The work on the Czech Army project has also yielded scientific benefits – it led to the development of improved metaheuristic artificial intelligence algorithms. These could be used for planning trajectories of airborne transport vehicles.

The researchers at FEEC BUT modified and upgraded purchased drones with CBRN sensors, infrared cameras, and programmed microcomputers that enable swarm flying. However, they encountered obstacles. "The drone designed to transport small robots repeatedly crashed to the ground after flying just half a meter. It flew well with a payload, but without the robot, it was too light and unstable. It was challenging to set parameters so that it would fly stably and always reach its destination," notes Marcoň.

A major advantage was the opportunity to test the entire system directly in military zones. Using the STARKOM vehicle, army specialists disrupted the electromagnetic environment in which the drones and robots operated.

"This gave us feedback on how the system would behave in a jammed area, which was a huge benefit," says the expert. While the original swarm design relied on local wireless network communication, researchers have now started using the MANET MESH network and MPU5 radio, which is also used by NATO and is more resistant to electromagnetic interference of communication channels.

The project, which researchers from FEEC BUT and the University of Defence have been working on since January 2022, will be completed by the end of 2025. In September, the multi-agent system's functionality will be demonstrated to the Czech Army at the Březina military training area.

"We will be testing two potential scenarios. The first involves the use of a dirty bomb in a populated area. We will measure radiation levels to determine whether the environment is safe for soldiers and civilians. The second scenario will focus on military reconnaissance – determining whether enemy troops and armed equipment are present in a designated area. The system will be tested on both camouflaged and non-camouflaged soldiers," Marcoň plans.

Although the swarm was originally intended solely for the military, police, firefighters, and other emergency services have shown interest in it from the beginning. "We have been contacted by prison service representatives to see if the system could be used for facility security. Similarly, it could assist in guarding ammunition depots, nuclear power plants, or other critical infrastructure. We would like to continue developing and expanding the system with additional functionalities. That is why we have applied for a follow-up project under the PRODEF program announced by the Ministry of Defence," concludes Marcoň. The BUT team aims to collaborate on this project not only with the University of Defence but also with experts from the Czech Technical University (CTU).

The project "An Artificial Intelligence-Controlled Robotic System for Intelligence and Reconnaissance Operations, VJ02010036" was supported by the Ministry of the Interior of the Czech Republic under the Strategic Support for the Development of Security Research Program in the Czech Republic 2019–2025 (IMPAKT 1).

(mar)