A Proposal of Multi-UAV Mission Coordination and Control Architecture

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.

Description

Title: A Proposal of Multi-UAV Mission Coordination and Control Architecture
Author/s:
  • Roldán Gómez, Juan Jesús
  • Lansac, Bruno
  • Cerro Giner, Jaime Del
  • Barrientos Cruz, Antonio
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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Abstract

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.

Funding Projects

TypeCodeAcronymLeaderTitle
Government of SpainDPI2014-56985-RUnspecifiedUnspecifiedProtección robotizada de infraestructuras críticas
Madrid Regional GovernmentS2013/MIT- 2748ROBOCITY2030-IIIUnspecifiedRobótica aplicada a la mejora de la calidad de vida de los ciudadanos (fase III)

More information

Item ID: 42026
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
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