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Bridging the mission-control gap: A flight command layer for mediating flight behaviours and continuous control
Linköping University, Department of Computer and Information Science, Artificial Intelligence and Integrated Computer Systems. Linköping University, Faculty of Science & Engineering. (KPLAB)ORCID iD: 0000-0003-3392-6742
Linköping University, Department of Computer and Information Science, Artificial Intelligence and Integrated Computer Systems. Linköping University, Faculty of Science & Engineering. (KPLAB)
2016 (English)In: 2016 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), Institute of Electrical and Electronics Engineers (IEEE), 2016, 304-311 p.Conference paper, Published paper (Refereed)
Abstract [en]

The use of UAVs, in particular, micro VTOL UAVs, is becoming prevalent in emergency rescue and security applications, among others. In these applications, the platforms are tightly coupled to the human users and these applications require great flexibility in the interaction between the platforms and such users. During operation, one continually switches between manual, semi-autonomous and autonomous operation, often re-parameterising, breaking in, pausing, and resuming missions. One is in continual need of modifying existing elementary actions and behaviours such as FlyTo and TrackObject, and seamlessly switching between such operations. This paper proposes a flight command and setpoint abstraction layer that serves as an interface between continuous control and higher level elementary flight actions and behaviours. Introduction of such a layer into an architecture offers a versatile and flexible means of defining flight behaviours and dynamically parameterising them in the field, in particular where human users are involved. The system proposed is implemented in prototype and the paper provides experimental validation of the use and need for such abstractions in system architectures.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2016. 304-311 p.
Series
2016 IEEE INTERNATIONAL SYMPOSIUM ON SAFETY, SECURITY, AND RESCUE ROBOTICS (SSRR), ISSN 2374-3247
Keyword [en]
UAV, architecture, control
National Category
Robotics
Identifiers
URN: urn:nbn:se:liu:diva-133793DOI: 10.1109/SSRR.2016.7784320ISI: 000391310800052ISBN: 9781509043491 (electronic)ISBN: 9781509043507 (print)OAI: oai:DiVA.org:liu-133793DiVA: diva2:1063432
Conference
14th IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR), Lausanne, Switzerland, October 23-27, 2016
Projects
CUASSymbiKcloud
Funder
Swedish Research CouncilSwedish Foundation for Strategic Research ELLIIT - The Linköping‐Lund Initiative on IT and Mobile CommunicationsLinnaeus research environment CADICS
Available from: 2017-01-10 Created: 2017-01-10 Last updated: 2017-02-03

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CiteExportLink to record
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Citation style
  • apa
  • ieee
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Language
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Output format
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