LiU Electronic Press
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Author:
Doherty, Patrick (Linköping University, Department of Computer and Information Science, KPLAB - Knowledge Processing Lab) (Linköping University, Department of Computer and Information Science, UASTECH - Autonomous Unmanned Aircraft Systems Technologies) (Linköping University, The Institute of Technology)
Heintz, Fredrik (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)
Title:
High-level Mission Specification and Planning for Collaborative Unmanned Aircraft Systems using Delegation
Department:
Linköping University, Department of Computer and Information Science, KPLAB - Knowledge Processing Lab
Linköping University, The Institute of Technology
Linköping University, Department of Computer and Information Science, UASTECH - Autonomous Unmanned Aircraft Systems Technologies
Publication type:
Article in journal (Refereed)
Language:
English
Publisher: World Scientific
Status:
Published
In:
Unmanned Systems, ISSN 2301-3850, EISSN 2301-3869
Volume:
1
Issue:
1
Pages:
75-119
Year of publ.:
2013
URI:
urn:nbn:se:liu:diva-90039
Permanent link:
http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-90039
Subject category:
Computer Science
Project:
CADICS, ELLIIT, NFFP5, CUAS, SHERPA
Abstract(en) :

Automated specification, generation and execution  of high level missions involving one or more heterogeneous unmanned aircraft systems is in its infancy. Much previous effort has been focused on the development of air vehicle platforms themselves together with the avionics and sensor subsystems that implement basic navigational skills. In order to increase the degree of autonomy in such systems so they can successfully participate in more complex mission scenarios such as those considered in emergency rescue that also include ongoing interactions with human operators, new architectural components and functionalities will be required to aid not only human operators in mission planning, but also the unmanned aircraft systems themselves in the automatic generation, execution and partial verification of mission plans to achieve mission goals. This article proposes a formal framework and architecture based on the unifying concept of delegation that can be used for the automated specification, generation and execution of high-level collaborative missions involving one or more air vehicles platforms and human operators. We describe an agent-based software architecture, a temporal logic based mission specification language, a distributed temporal planner and  a task specification language that when integrated provide a basis for the generation, instantiation and execution of complex collaborative missions on heterogeneous air vehicle systems. A prototype of the framework is operational in a number of autonomous unmanned aircraft systems developed in our research lab.

Research funder:
eLLIIT - The Linköping‐Lund Initiative on IT and Mobile Communications
Research funder:
Swedish Foundation for Strategic Research
Research funder:
Linnaeus research environment CADICS
Research funder:
EU, FP7, Seventh Framework Programme, 600958
Available from:
2013-03-18
Created:
2013-03-18
Last updated:
2013-08-29
Statistics:
133 hits