  This work presents and experimentally test the framework used by our
context-aware, distributed team of small Unmanned Aerial Systems (SUAS) capable
of operating in real-time, in an autonomous fashion, and under constrained
communications. Our framework relies on three layered approach: (1) Operational
layer, where fast temporal and narrow spatial decisions are made; (2) Tactical
Layer, where temporal and spatial decisions are made for a team of agents; and
(3) Strategical Layer, where slow temporal and wide spatial decisions are made
for the team of agents. These three layers are coordinated by an ad-hoc,
software-defined communications network, which ensures sparse, but timely
delivery of messages amongst groups and teams of agents at each layer even
under constrained communications. Experimental results are presented for a team
of 10 small unmanned aerial systems tasked with searching and monitoring a
person in an open area. At the operational layer, our use case presents an
agent autonomously performing searching, detection, localization,
classification, identification, tracking, and following of the person, while
avoiding malicious collisions. At the tactical layer, our experimental use case
presents the cooperative interaction of a group of multiple agents that enable
the monitoring of the targeted person over a wider spatial and temporal
regions. At the strategic layer, our use case involves the detection of complex
behaviors-i.e. the person being followed enters a car and runs away, or the
person being followed exits the car and runs away-that requires strategic
responses to successfully accomplish the mission.
