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Roldán Gómez, Juan Jesús and Lansac, Bruno and Cerro Giner, Jaime Del and Barrientos Cruz, Antonio (2015). A Proposal of Multi-UAV Mission Coordination and Control Architecture. In: "Robot 2015: Second Iberian Robotics Conference", November 19th – 21st, Lisboa (Portugal). ISBN 978-3-319-27148-4. pp. 597-608.
Title: | A Proposal of Multi-UAV Mission Coordination and Control Architecture |
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Author/s: |
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Item Type: | Presentation at Congress or Conference (Article) |
Event Title: | Robot 2015: Second Iberian Robotics Conference |
Event Dates: | November 19th – 21st |
Event Location: | Lisboa (Portugal) |
Title of Book: | Robot 2015: Second Iberian Robotics Conference |
Date: | 2015 |
ISBN: | 978-3-319-27148-4 |
Subjects: | |
Freetext Keywords: | Multi-UAV, Multi-robot, Coordination, Control, Architecture, Mission, Task, Action, Layer, Simulator, Game, Competitive, Scenario |
Faculty: | E.T.S.I. Industriales (UPM) |
Department: | Automática, Ingeniería Eléctrica y Electrónica e Informática Industrial |
Creative Commons Licenses: | Recognition - No derivative works - Non commercial |
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Multi-UAV missions are complex systems that may include a fleet of UAVs, a crew of operators and different computers and interfaces. Currently, an important challenge is the reduction of the number of operators that is required for performing a multi-UAV mission. This challenge can be addressed by increasing the autonomy of fleets and providing capabilities of operators to the interfaces. This paper presents a proposal of control architecture for multi-UAV missions. This architecture shares some elements with centralized and distributed approaches and it has three layers: mission, task and action. The mission layer is implemented in the GCS and performs the mission planning and operator interfacing. Meanwhile, the task and action layers are located in the UAVs and perform respectively the task planning and executing. This architecture is applied to a simulation environment that reproduce a competitive scenario with two fleets of UAVs.
Type | Code | Acronym | Leader | Title |
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Government of Spain | DPI2014-56985-R | Unspecified | Unspecified | Protección robotizada de infraestructuras críticas |
Madrid Regional Government | S2013/MIT- 2748 | ROBOCITY2030-III | Unspecified | Robótica aplicada a la mejora de la calidad de vida de los ciudadanos (fase III) |
Item ID: | 42026 |
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DC Identifier: | http://oa.upm.es/42026/ |
OAI Identifier: | oai:oa.upm.es:42026 |
Official URL: | http://link.springer.com/chapter/10.1007%2F978-3-319-27146-0_46 |
Deposited by: | Memoria Investigacion |
Deposited on: | 06 Jul 2016 13:47 |
Last Modified: | 06 Jul 2016 13:47 |