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Bridging Reactive and Control Architectural Layers for Cooperative Missions Using VTOL Platforms
Linköping University, Department of Computer and Information Science, Artificial Intelligence and Integrated Computer Systems. Linköping University, Faculty of Science & Engineering. (Artificial Intelligence and Integrated Computer Systems)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.
2017 (English)In: Proceedings of the 25th International Conference on Systems Engineering (ICSENG) / [ed] Henry Selvaraj, USA, 2017, 21-32 p.Conference paper, Published paper (Refereed)
Abstract [en]

In this paper we address the issue of connecting abstract task definitions at a mission level with control functionalities for the purpose of performing autonomous robotic missions using multiple heterogenous platforms. The heterogeneity is handled by the use of a common vocabulary which consists of parametrized tasks such as fly-to, take-off, scan-area, or land. Each of the platforms participating in a mission supports a subset of the tasks by providing their platform-specific implementations. This paper presents a detailed description of an approach for implementing such platform-specific tasks. It is achieved using a flight-command based interface with setpoint generation abstraction layer for vertical take-off and landing platforms. We show that by using this highly expressive and easily parametrizable way of specifying and executing flight behaviors it is straightforward to implement a wide range of tasks. We describe the method in the context of a previously described robotics architecture which includes mission delegation and execution system based on a task specification language. We present results of an experimental flight using the proposed method. 

Place, publisher, year, edition, pages
USA, 2017. 21-32 p.
Keyword [en]
Robotics, UAV, drone, control framework
National Category
Robotics
Identifiers
URN: urn:nbn:se:liu:diva-141879ISBN: 978-1-5386-0609-4 (print)OAI: oai:DiVA.org:liu-141879DiVA: diva2:1148540
Conference
25th International Conference on Systems Engineering (ICSENG), Las Vegas, USA, August 22-24, 2017
Projects
Swedish Foundation for Strategic Research (Smart Systems: RIT 15-0097)ELLIIT network organisation for Information and Communication TechnologySwedish Research Council (VR) Linnaeus Center CADICS
Funder
Swedish Foundation for Strategic Research , RIT 15-0097ELLIIT - The Linköping‐Lund Initiative on IT and Mobile CommunicationsLinnaeus research environment CADICS
Note

Funding Agencies|Swedish Research Council (VR) Linnaeus Center CADICS; ELLIIT network organization for Information and Communication Technology; Swedish Foundation for Strategic Research [RIT 15-0097]

Available from: 2017-10-11 Created: 2017-10-11 Last updated: 2017-11-09Bibliographically approved

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Doherty, Patrick

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Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
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  • Other style
More styles
Language
  • de-DE
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  • nn-NB
  • sv-SE
  • Other locale
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Output format
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