AEROSTACK: An Architecture and Open-Source Software Framework for Aerial Robotics

Sánchez López, José Luis; Súarez Fernández, Ramón; Bavle, Hriday; Sampedro Pérez, Carlos; Molina, Martin; Pestana Puerta, Jesús y Campoy Cervera, Pascual (2016). AEROSTACK: An Architecture and Open-Source Software Framework for Aerial Robotics. En: "2016 International Conference on Unmanned Aircraft Systems (ICUAS)", 7-10 Junio 2016, Miami Marriott Biscayne Bay, Miami, FL, USA.

Descripción

Título: AEROSTACK: An Architecture and Open-Source Software Framework for Aerial Robotics
Autor/es:
  • Sánchez López, José Luis
  • Súarez Fernández, Ramón
  • Bavle, Hriday
  • Sampedro Pérez, Carlos
  • Molina, Martin
  • Pestana Puerta, Jesús
  • Campoy Cervera, Pascual
Tipo de Documento: Ponencia en Congreso o Jornada (Artículo)
Título del Evento: 2016 International Conference on Unmanned Aircraft Systems (ICUAS)
Fechas del Evento: 7-10 Junio 2016
Lugar del Evento: Miami Marriott Biscayne Bay, Miami, FL, USA
Título del Libro: Proceedings of 2016 International Conference on Unmanned Aircraft Systems (ICUAS)
Fecha: 7 Junio 2016
Materias:
Escuela: E.T.S. de Ingenieros Informáticos (UPM)
Departamento: Inteligencia Artificial
Licencias Creative Commons: Ninguna

Texto completo

[img]
Vista Previa
PDF (Document Portable Format) - Se necesita un visor de ficheros PDF, como GSview, Xpdf o Adobe Acrobat Reader
Descargar (760kB) | Vista Previa

Resumen

To simplify the usage of the Unmanned Aerial Systems (UAS), extending their use to a great number of applications, fully autonomous operation is needed. There are many open-source architecture frameworks for UAS that claim the autonomous operation of UAS, but they still have two main open issues: (1) level of autonomy, being in most of the cases limited and (2) versatility, being most of them designed specifically for some applications or aerial platforms. As a response to these needs and issues, this paper presents Aerostack, a system architecture and open-source multi-purpose software framework for autonomous multi-UAS operation. To provide higher degrees of autonomy, Aerostack’s system architecture integrates state of the art concepts of intelligent, cognitive and social robotics, based on five layers: reactive, executive, deliberative, reflective, and social. To be a highly versatile practical solution, Aerostack’s open-source software framework includes the main components to execute the architecture for fully autonomous missions of swarms of UAS; a collection of ready-to-use and flight proven modular components that can be reused by the users and developers; and compatibility with five well known aerial platforms, as well as a high number of sensors. Aerostack has been validated during three years by its successful use on many research projects, international competitions and exhibitions. To corroborate this fact, this paper also presents Aerostack carrying out a fictional fully autonomous indoors search and rescue mission.

Proyectos asociados

TipoCódigoAcrónimoResponsableTítulo
Gobierno de EspañaDPI2014-60139-RVA4UAVPascual Campoy CerveraVisual autonomy for UAV in Dynamic Environments

Más información

ID de Registro: 43927
Identificador DC: http://oa.upm.es/43927/
Identificador OAI: oai:oa.upm.es:43927
Depositado por: Martin Molina
Depositado el: 18 Nov 2016 11:10
Ultima Modificación: 18 Nov 2016 11:10
  • Open Access
  • Open Access
  • Sherpa-Romeo
    Compruebe si la revista anglosajona en la que ha publicado un artículo permite también su publicación en abierto.
  • Dulcinea
    Compruebe si la revista española en la que ha publicado un artículo permite también su publicación en abierto.
  • Recolecta
  • e-ciencia
  • Observatorio I+D+i UPM
  • OpenCourseWare UPM