HDRC3 - A Distributed Hybrid Deliberative/Reactive Architecture for Unmanned Aircraft Systems
2014 (English)In: Handbook of Unmanned Aerial Vehicles / [ed] Kimon P. Valavanis, George J. Vachtsevanos, Dordrecht: Springer Science+Business Media B.V., 2014, 849-952 p.Chapter in book (Other academic)
This chapter presents a distributed architecture for unmanned aircraft systems that provides full integration of both low autonomy and high autonomy. The architecture has been instantiated and used in a rotorbased aerial vehicle, but is not limited to use in particular aircraft systems. Various generic functionalities essential to the integration of both low autonomy and high autonomy in a single system are isolated and described. The architecture has also been extended for use with multi-platform systems. The chapter covers the full spectrum of functionalities required for operation in missions requiring high autonomy. A control kernel is presented with diverse flight modes integrated with a navigation subsystem. Specific interfaces and languages are introduced which provide seamless transition between deliberative and reactive capability and reactive and control capability. Hierarchical Concurrent State Machines are introduced as a real-time mechanism for specifying and executing low-level reactive control. Task Specification Trees are introduced as both a declarative and procedural mechanism for specification of high-level tasks. Task planners and motion planners are described which are tightly integrated into the architecture. Generic middleware capability for specifying data and knowledge flow within the architecture based on a stream abstraction is also described. The use of temporal logic is prevalent and is used both as a specification language and as an integral part of an execution monitoring mechanism. Emphasis is placed on the robust integration and interaction between these diverse functionalities using a principled architectural framework. The architecture has been empirically tested in several complex missions, some of which are described in the chapter.
Place, publisher, year, edition, pages
Dordrecht: Springer Science+Business Media B.V., 2014. 849-952 p.
Computer and Information Science
IdentifiersURN: urn:nbn:se:liu:diva-113613DOI: 10.1007/978-90-481-9707-1_118ISBN: 978-90-481-9706-4ISBN: 978-90-481-9707-1OAI: oai:DiVA.org:liu-113613DiVA: diva2:783442
FunderEU, FP7, Seventh Framework Programme, 600958Swedish Foundation for Strategic Research Linnaeus research environment CADICSeLLIIT - The Linköping‐Lund Initiative on IT and Mobile Communications