Onboard Mission Management for a VTOL UAV Using Sequence and Supervisory Control

Adolf, Florian-Michael; Andert, Franz

doi:10.5772/10323

Cited by 8 publications

(6 citation statements)

References 12 publications

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“…Konigsbuch and Fabiani [14] extend this guidance system and integrate that with a robotic helicopter. The German Aerospace Center (DLR) has also developed a mission management system based on the behavior paradigm [15], which has been integrated with the ARTIS helicopter and validated in different scenarios, including waypoints follower, search and tracking mission. Rodríguez-Fernández et al [16] investigate the performance analysis of UAV operators, with respect to agility, consumption, aggressiveness, precision and reflexes; each of those aspects has evaluation metrics, in order to discover the behavioral pattern of the operators.…”

Section: Related Workmentioning

confidence: 99%

Planning and Evaluation of UAV Mission Planner for Intralogistics Problems

Cavalcante

Bessa

Cordeiro

2017

2017 VII Brazilian Symposium on Computing Systems Engineering (SBESC)

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We describe and evaluate the development of mission planners in intralogistics for a commercial unmanned aerial vehicle equipped with a robotic gripper in an industrial environment, which consists of an input warehouse, production lines, and a product depot. In this particular study, the planner produces the needed commands for carrying out a given mission, which includes the delivery of inputs picked up from the warehouse to the production line until the final product is delivered to the client (product depot). We propose two different approaches for mission planning: in the first approach, a simple heuristic is used to solve the mission problem, where a UAV obtains the needed inputs to produce a product from the warehouse, and then it brings the product to the respective production line and waits to finish its production; in the second approach, a technique with task scheduling (production process) is employed; both approaches follow a set of production rules. In addition, a novel evaluation methodology for mission planner algorithms is proposed in order to verify the cost of both approaches, measure the execution time, and compare those results with the optimum cost obtained with the IBM ILOG CPLEX optimizer.

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Section: Related Workmentioning

confidence: 99%

Planning and Evaluation of UAV Mission Planner for Intralogistics Problems

Cavalcante

Bessa

Cordeiro

2017

2017 VII Brazilian Symposium on Computing Systems Engineering (SBESC)

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“…We can find UML [2], composed of 13 diagrams (The package diagram, the use case diagram, the activity diagram ...) depending on the desired modeling but UML is not formal. We must also mention the Battle Management Language (BML) used to command and control forces and equipment conducting military operations [3] but BML is not modular enough in our context.…”

Section: State Of the Artmentioning

confidence: 99%

“…We must also mention the Battle Management Language (BML) used to command and control forces and equipment conducting military operations [3] but BML is not modular enough in our context. We can find Language grammar, explain in [4] and partially used in [2] but which are hierarchically not simple. There is also XML, use in [5] (with XPath query language) and that we also use in the high-level description of our description for its simplicity of utilization and its great description flexibility.…”

Section: State Of the Artmentioning

confidence: 99%

Formal Method for Mission Controller Generation of a Mobile Robot

Louis

Godary-Dejean

Lapierre

et al. 2017

Towards Autonomous Robotic Systems

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This article presents a methodology for generating a realtime mission controller of a submarine robot. The initial description of the mission considers the granularity constraints associated with the actors defining the mission. This methodology incorporates a formal analysis of the different possibilities for success of the mission from the models of each component involved in the description of the mission. This article ends illustrating this methodology with the generation of a real robotic mission for marine biodiversity assessment.

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“…In the literature there are some attempts to implement UAV guidance systems that achieve Mission Planning. Some architectural frameworks [3], [4] for Mission Planning and execution monitoring usually use Temporal Action Logic (TAL) or Markov Decision Process (MDP) for modelling this problem.…”

Section: Introductionmentioning

confidence: 99%

A multi-UAV mission planning videogame-based framework for player analysis

Rodríguez-Fernández

Ramírez-Atencia

Camacho

2015

2015 IEEE Congress on Evolutionary Computation (CEC)

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The problem of Mission Planning for a large number of Unmanned Air Vehicles (UAVs) comprises a set of locations to visit in different time windows, and the actions that the vehicle can perform based on its features, such as sensors, speed or fuel consumption. Although this problem is increasingly more supported by Artificial Intelligence systems, nowadays human factors are still critical to guarantee the success of the designed plan. Studying and analyzing how humans solve this problem is sometimes difficult due to the complexity of the problem and the lack of data available. To overcome this problem, we have developed an analysis framework for Multi-UAV Cooperative Mission Planning Problem (MCMPP) based on a videogame that gamifies the problem and allows a player to design plans for multiple UAVs intuitively. On the other hand, we have also developed a mission planner algorithm based on Constraint Satisfaction Problems (CSPs) and solved with a Multi-Objective Branch & Bound (MOBB) method which optimizes the objective variables of the problem and gets the best solutions in the Pareto Optimal Frontier (POF). To prove the environment potential, we have performed a comparative study between the plans generated by a heterogenous group of human players and the solutions obtained by this planner.

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Onboard Mission Management for a VTOL UAV Using Sequence and Supervisory Control

Cited by 8 publications

References 12 publications

Planning and Evaluation of UAV Mission Planner for Intralogistics Problems

Planning and Evaluation of UAV Mission Planner for Intralogistics Problems

Formal Method for Mission Controller Generation of a Mobile Robot

A multi-UAV mission planning videogame-based framework for player analysis

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