YongLD / Multi-UAV-JEV

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 Quick start · Fleet guide · Prompt & actions · Data collection 
# Multi-UAV JEV
**Camera-observed cooperative UAV pursuit in a MuJoCo city.** Choose **1, 2 or 4 pursuers**, share onboard target observations, and inspect how tracking, forward blockade, predictive interception and support work together.
Each aircraft has its own free joint, four motors, camera perception, controller and Jev decision worker. This release implements a physical fleet with distinct missions and synchronized full-instrument replay.
 Four independent UAVs with synchronized follow cameras: tracking, forward blockade, predictive interception and support/rescue. Full recordings preserve 20 FPS and every aircraft’s complete instruments. 
Capture provenance and full-size still · Fleet guide.
## What you can explore
- **A fleet with complementary jobs.** P-01 maintains contact; P-02 occupies a point ahead of the target; P-03 predicts a future meeting point; P-04 provides support and rescue instead of simulated fire.
- **Shared, inspectable observations.** Fuse camera-derived positions, confidence, timestamps and velocity estimates. Shared information does not become local camera visibility. Stale observations expire into search.
- **Editable role rules.** Change sim/role.md to tune instructions, deployment positions, mission horizons and recovery limits. Valid edits reload while running; invalid edits retain the previous configuration.
- **A complete live cockpit.** Follow every drone, click to enlarge, or focus one aircraft. RGB, depth, candidate probabilities, action counts, predicted paths, HIT/MISS effects and the district overview remain available. Landscape screens use a separate control sidebar.
- **Inspectable recordings and cases.** Record every active follow camera at 20 FPS; retain the best two qualifying episodes separately for 1 / 2 / 4 aircraft. Archive successful and failed decision/event records independently of replay selection.
## Fleet roles
| Aircraft | Mission | Behavior |
| --- | --- | --- |
| P-01 | Continuous tracking | Maintain camera contact and provide observations; another pursuer can temporarily relay tracking if P-01 is unhealthy. |
| P-02 | Forward blockade | Extrapolate current motion, compare arrival times and commit to a point ahead; hold there rather than match the target's velocity. |
| P-03 | Predictive interception | Fit velocity/turn trends from shared history and seek a reachable future meeting point; replan when the track changes. |
| P-04 | Communication support + rescue | Maintain coverage, approach a troubled teammate at safe spacing, and request motor-based recovery; recover itself first when stuck or unstable. |
One aircraft uses the original pursuit baseline; two activate P-01/P-02; four activate all roles. Late or unreachable plans are shown explicitly. Planning, rescue and configuration details →
## How it works
 [code] 
**Observation boundary:** Jev receives structured **text** derived from depth, ideal MuJoCo