LiU Electronic Press
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Author:
Doherty, Patrick (Linköping University, Department of Computer and Information Science, KPLAB - Knowledge Processing Lab) (Linköping University, The Institute of Technology)
Kvarnström, Jonas (Linköping University, Department of Computer and Information Science, KPLAB - Knowledge Processing Lab) (Linköping University, The Institute of Technology) (APD)
Heintz, Fredrik (Linköping University, Department of Computer and Information Science, KPLAB - Knowledge Processing Lab) (Linköping University, The Institute of Technology)
Title:
A Temporal Logic-based Planning and Execution Monitoring Framework for Unmanned Aircraft Systems
Department:
Linköping University, Department of Computer and Information Science, KPLAB - Knowledge Processing Lab
Linköping University, The Institute of Technology
Publication type:
Article in journal (Refereed)
Language:
English
Publisher: Springer
Status:
Published
In:
Autonomous Agents and Multi-Agent Systems(ISSN 1387-2532)(EISSN 1573-7454)
Volume:
19
Issue:
3
Pages:
332-377
Year of publ.:
2009
URI:
urn:nbn:se:liu:diva-28260
Permanent link:
http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-28260
Subject category:
Engineering and Technology
SVEP category:
TECHNOLOGY
Keywords(en) :
Execution monitoring - Planning - Temporal action logic - Reasoning about action and change - Intelligent autonomous systems - Unmanned aircraft systems
Abstract(en) :

Research with autonomous unmanned aircraft systems is reaching a new degree of sophistication where targeted missions require complex types of deliberative capability integrated in a practical manner in such systems. Due to these pragmatic constraints, integration is just as important as theoretical and applied work in developing the actual deliberative functionalities. In this article, we present a temporal logic-based task planning and execution monitoring framework and its integration into a fully deployed rotor-based unmanned aircraft system developed in our laboratory. We use a very challenging emergency services application involving body identification and supply delivery as a vehicle for showing the potential use of such a framework in real-world applications. TALplanner, a temporal logic-based task planner, is used to generate mission plans. Building further on the use of TAL (Temporal Action Logic), we show how knowledge gathered from the appropriate sensors during plan execution can be used to create state structures, incrementally building a partial logical model representing the actual development of the system and its environment over time. We then show how formulas in the same logic can be used to specify the desired behavior of the system and its environment and how violations of such formulas can be detected in a timely manner in an execution monitor subsystem. The pervasive use of logic throughout the higher level deliberative layers of the system architecture provides a solid shared declarative semantics that facilitates the transfer of knowledge between different modules.

Available from:
2009-10-09
Created:
2009-10-09
Last updated:
2013-08-29
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