liu.seSearch for publications in DiVA
Change search
ReferencesLink to record
Permanent link

Direct link
High-level Mission Specification and Planning for Collaborative Unmanned Aircraft Systems using Delegation
2013 (English)In: Unmanned Systems, ISSN 2301-3850, EISSN 2301-3869, Vol. 1, no 1, 75-119Article in journal (Refereed) Published
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.

Place, publisher, year, pages
World Scientific, 2013. Vol. 1, no 1, 75-119
National Category
Computer Science
URN: urn:nbn:se:liu:diva-90039OAI: diva2:611599
eLLIIT - The Linköping‐Lund Initiative on IT and Mobile CommunicationsSwedish Foundation for Strategic Research Linnaeus research environment CADICSEU, FP7, Seventh Framework Programme
Available from2013-03-18 Created:2013-03-18 Last updated:2013-08-29

Open Access in DiVA

No full text

Search in DiVA

By author/editor
Doherty, PatrickHeintz, FredrikKvarnström, Jonas
By organisation
KPLAB - Knowledge Processing LabUASTECH - Autonomous Unmanned Aircraft Systems TechnologiesThe Institute of Technology
Computer Science

Search outside of DiVA

GoogleGoogle Scholar
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

Total: 348 hits
ReferencesLink to record
Permanent link

Direct link