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Government agencies predict ever-increasing inventories of Unmanned Aerial Vehicles (UAVs). Sizes will vary from current manned aircraft scales to miniature, micro, millimeter scales or smaller. Missions for UAVs will increase, especially for the 3-D missions: dull, dirty, and dangerous. As their numbers and missions increase, three important challenges will emerge for these large swarms of sensor and surveillance UAVs: the need for near real-time dynamic command & control of the swarms, efficient mission planning and dynamic real-time re-tasking of the swarms, and the need for improved automation of swarm mission planning and command & control.
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