Application of boyd's ooda loop in the coordination of unmanned systems for reconnaissance in urban environments

The coordination of multiple unmanned aerial vehicles (UAVs) in urban environments represents one of the most demanding challenges of modern military and civilian robotics. This paper explores the application of Boyd's OODA (Observe-Orient-Decide-Act) loop as a theoretical and practical framework for improving the coordination of unmanned systems during reconnaissance missions in complex urban environments. The methodological approach combines a systematic literature review with an analysis of existing OODA loop implementations in autonomous systems, with particular emphasis on identifying key parameters that affect the efficiency of real-time decision-making. Research results demonstrate that the integration of the OODA loop into the management architecture of multiple UAV systems significantly reduces decision-making time by an average of 34-47% in simulated urban scenarios, while simultaneously improving the quality of operator situational awareness by 28%. The analysis also identifies critical factors that limit the application of the OODA loop in decentralized UAV systems, including communication latencies, processing power limitations, and the complexity of urban terrain. In conclusion, the paper proposes a modified OODA framework called OODA-UAV that explicitly integrates sensor fusion, distributed decision-making, and adaptive trajectory planning as key components for the efficient coordination of unmanned systems in urban reconnaissance. The contribution of this paper lies in the theoretical elaboration and empirical validation of the application of a classical military decision-making concept in the context of contemporary autonomous systems.