Architecture of the multilayered intelligent control system for unmanned aerial vehicles

A range of tasks related to multirotor unmanned aerial vehicles’ (UAVs’) control automation is examined in the paper. A bundle of planning and control methods are proposed and the task of organizing various methods (both newly suggested and known) into a single, integrated UAV control system is addressed. Control process is decomposed into the three layers (levels) and the corresponding architecture is described – STRL architecture (strategic, tactical, reactive, layered). We believe that utilization of the proposed architecture will broad the spectrum of tasks which can be solved by the UAVs coalition in an automated fashion.