Bridging Reactive and Control Architectural Layers for Cooperative Missions Using VTOL Platforms
2017 25th International Conference on Systems Engineering (ICSEng)(2017)
摘要
In this paper we address the issue of connecting abstract task definitions at a mission level with control functionalities for the purpose of performing autonomous robotic missions using multiple heterogenous platforms. The heterogeneity is handled by the use of a common vocabulary which consists of parametrized tasks such as fly-to, take-off, scan-area, or land. Each of the platforms participating in a mission supports a subset of the tasks by providing their platform-specific implementations. This paper presents a detailed description of an approach for implementing such platform-specific tasks. It is achieved using a flight-command based interface with setpoint generation abstraction layer for vertical take-off and landing platforms. We show that by using this highly expressive and easily parametrizable way of specifying and executing flight behaviors it is straightforward to implement a wide range of tasks. We describe the method in the context of a previously described robotics architecture which includes mission delegation and execution system based on a task specification language. We present results of an experimental flight using the proposed method.
更多查看译文
关键词
UAV,UAS,control system,architecture,framework,VTOL
AI 理解论文
溯源树
样例
生成溯源树,研究论文发展脉络
Chat Paper
正在生成论文摘要