The Software Architecture of the Berkeley UAV Platform

Tisdale, John; Ryan, Allison; Zennaro, Marco; Xiao, Xiao; Caveney, Derek; Rathinam, Sivakumar; Hedrick, J. Karl; Sengupta, Raja

doi:10.1109/cca.2006.286066

Cited by 24 publications

(24 citation statements)

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“…If the delays in the data acquisition are known or negligible and processing is performed on the same computer, no further efforts are required. Thus, some UAS collect the sensor data on one processing unit connected to one clock before further processing [12]. For the presented scalable flight software, it is not necessarily known a priori how many computational units are used.…”

Section: Scalability Aspect: Time Synchronizationmentioning

confidence: 99%

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Steps Towards Scalable and Modularized Flight Software for Unmanned Aircraft Systems

Dauer

Goormann

Torens

2014

International Journal of Advanced Robotic Systems

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Unmanned aircraft (UA) applications impose a variety of computing tasks on the on-board computer system. From a research perspective, it is often more convenient to evaluate algorithms on bigger aircraft as they are capable of lifting heavier loads and thus more powerful computational units. On the other hand, smaller systems are often less expensive and operation is less restricted in many countries. This paper thus presents a conceptual design for flight software that can be evaluated on the UA of convenient size. The integration effort required to transfer the algorithm to different sized UA is significantly reduced. This scalability is achieved by using exchangeable payload modules and a flexible process distribution on different processing units. The presented approach is discussed using the example of the flight software of a 14 kg unmanned helicopter and an equivalent of 1.5 kg. The proof of concept is shown by means of flight performance in a hardware-in-the-loop simulation.

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Section: Scalability Aspect: Time Synchronizationmentioning

confidence: 99%

“…In [11] and [12], a hub-like communication management is presented for the Berkely Plane UA. Here, communication includes a state broadcast between multiple UA.…”

Section: Related Workmentioning

confidence: 99%

Steps Towards Scalable and Modularized Flight Software for Unmanned Aircraft Systems

Dauer

Goormann

Torens

2014

International Journal of Advanced Robotic Systems

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“…However, their approach assumes all mission planning and platform tasking is done pre-mission. Another good example comes from a research group at Berkeley [2] who developed a networked architecture for mission tasking and UAV collaboration. Their design goals are the nearest to those in this paper, though they place a greater emphasis on collaborative platform tasking.…”

Section: Introductionmentioning

confidence: 99%

“…However, the concept of network-enabling the platform itself and developing a comprehensive information architecture to allow access, both to task the platform and to retrieve data from it, is relatively unexplored. Several papers address incorporating a wireless network capability with an unmanned system [1][2][3]. Most are focused on either the dissemination of data from the platform or implementing distributed control algorithms.…”

Section: Introductionmentioning

confidence: 99%

Exploring Network-Centric Information Architectures for Unmanned Systems Control and Data Dissemination

Clement

Bourakov

Jones

et al. 2009

AIAA Infotech@Aerospace Conference

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The exploration and development of an information architecture for networked unmanned systems is described. The unmanned systems discussed utilize standard components for guidance and navigation, coupled with additional computing devices for interfacing with a network. These platforms in turn communicate with a broader network of devices, applications, and users via a variety of wireless network links. Networking a platform that is traditionally operated via serial control links and analog sensor downlinks provides two distinct advantages: (i) high-level control, or "tasking," of the platform is easily extended from the single operator to any authorized user on the network; and (ii) sensor data and status information may be disseminated rapidly across the network to all interested recipients. The architecture developed through this exploration is applied in a prototype UAV which is utilized as both a high-resolution imaging platform and a wireless network relay. Testing and evaluation of the architecture occurs on an ongoing, quarterly basis through a cooperative field experiment program run by U.S. Special Operations Command and the Naval Postgraduate School.

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“…RYAN et al, 2007;TISDALE et al, 2006;MAZA et al, 2011). O protocolo Contract Net é um dos mais utilizados na implementação desse mecanismo (SMITH, 1980;SMITH e DAVIS, 1981;WOOLDRIDGE, 2009).…”

Section: Cooperação Versus Coordenaçãounclassified

Proposta de modelo de veículos aéreos não tripulados (VANTs) cooperativos aplicados a operações de busca.

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The Software Architecture of the Berkeley UAV Platform

Cited by 24 publications

References 0 publications

Steps Towards Scalable and Modularized Flight Software for Unmanned Aircraft Systems

Steps Towards Scalable and Modularized Flight Software for Unmanned Aircraft Systems

Exploring Network-Centric Information Architectures for Unmanned Systems Control and Data Dissemination

Proposta de modelo de veículos aéreos não tripulados (VANTs) cooperativos aplicados a operações de busca.

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