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

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

Description

Title: AEROSTACK: An Architecture and Open-Source Software Framework for Aerial Robotics
Author/s:
  • Sánchez López, José Luis
  • Súarez Fernández, Ramón
  • Bavle, Hriday
  • Sampedro Pérez, Carlos
  • Molina, Martin
  • Pestana Puerta, Jesús
  • Campoy Cervera, Pascual
Item Type: Presentation at Congress or Conference (Article)
Event Title: 2016 International Conference on Unmanned Aircraft Systems (ICUAS)
Event Dates: 7-10 Junio 2016
Event Location: Miami Marriott Biscayne Bay, Miami, FL, USA
Title of Book: Proceedings of 2016 International Conference on Unmanned Aircraft Systems (ICUAS)
Date: 7 June 2016
Subjects:
Faculty: E.T.S. de Ingenieros Informáticos (UPM)
Department: Inteligencia Artificial
Creative Commons Licenses: None

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Abstract

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.

Funding Projects

TypeCodeAcronymLeaderTitle
Government of SpainDPI2014-60139-RVA4UAVPascual Campoy CerveraVisual autonomy for UAV in Dynamic Environments

More information

Item ID: 43927
DC Identifier: http://oa.upm.es/43927/
OAI Identifier: oai:oa.upm.es:43927
Deposited by: Martin Molina
Deposited on: 18 Nov 2016 11:10
Last Modified: 18 Nov 2016 11:10
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