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HDRC3 - A Distributed Hybrid Deliberative/Reactive Architecture for Unmanned Aircraft Systems
Linköping University, Department of Computer and Information Science, Artificial Intelligence and Intergrated Computer systems. Linköping University, The Institute of Technology.
Linköping University, Department of Computer and Information Science, Artificial Intelligence and Intergrated Computer systems. Linköping University, The Institute of Technology. (APD)ORCID iD: 0000-0002-5500-8494
Linköping University, Department of Computer and Information Science, Artificial Intelligence and Intergrated Computer systems. Linköping University, The Institute of Technology.
Linköping University, Department of Computer and Information Science, Artificial Intelligence and Intergrated Computer systems. Linköping University, The Institute of Technology.
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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)
Abstract [en]

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.
National Category
Computer and Information Science
Identifiers
URN: urn:nbn:se:liu:diva-113613DOI: 10.1007/978-90-481-9707-1_118ISBN: 978-90-481-9706-4 (print)ISBN: 978-90-481-9707-1 (print)OAI: oai:DiVA.org:liu-113613DiVA: diva2:783442
Funder
EU, FP7, Seventh Framework Programme, 600958Swedish Foundation for Strategic Research Linnaeus research environment CADICSeLLIIT - The Linköping‐Lund Initiative on IT and Mobile Communications
Available from: 2015-01-26 Created: 2015-01-26 Last updated: 2015-02-12

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Doherty, PatrickKvarnström, JonasWzorek, MariuszRudol, PiotrHeintz, FredrikConte, Gianpaolo

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CiteExportLink to record
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