A Flexible and Dynamic Mission Planning Architecture For UAV Swarm Coordination

Sampedro, Carlos and Bavle, Hriday and Sanchez Lopez, Jose Luis and Suarez Fernandez, Ramon and Rodriguez Ramos, Alejandro and Molina, Martin and Campoy Cervera, Pascual (2016). A Flexible and Dynamic Mission Planning Architecture For UAV Swarm Coordination. In: "2016 International Conference on Unmanned Aircraft Systems (ICUAS)", 7 Junio 2016, Miami Marriott Biscayne Bay, Miami, FL, USA.

Description

Title: A Flexible and Dynamic Mission Planning Architecture For UAV Swarm Coordination
Author/s:
  • Sampedro, Carlos
  • Bavle, Hriday
  • Sanchez Lopez, Jose Luis
  • Suarez Fernandez, Ramon
  • Rodriguez Ramos, Alejandro
  • Molina, Martin
  • Campoy Cervera, Pascual
Item Type: Presentation at Congress or Conference (Article)
Event Title: 2016 International Conference on Unmanned Aircraft Systems (ICUAS)
Event Dates: 7 Junio 2016
Event Location: Miami Marriott Biscayne Bay, Miami, FL, USA
Title of Book: Proceedings of 2016 International Conference on Unmanned Aircraft Systems (ICUAS)
Título de Revista/Publicación: 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

In this paper a scalable and flexible Architecture for real-time mission planning and dynamic agent-to-task assignment for a swarm of Unmanned Aerial Vehicles (UAV) is presented. The proposed mission planning architecture consists of a Global Mission Planner (GMP) which is responsible of assigning and monitoring different high-level missions through an Agent Mission Planner (AMP), which is in charge of providing and monitoring each task of the mission to each UAV in the swarm. The objective of the proposed architecture is to carry out high-level missions such as autonomous multiagent exploration, automatic target detection and recognition, search and rescue, and other different missions with the ability of dynamically re-adapt the mission in real-time. The proposed architecture has been evaluated in simulation and real indoor flights demonstrating its robustness in different scenarios and its flexibility for real-time

Funding Projects

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

More information

Item ID: 43929
DC Identifier: http://oa.upm.es/43929/
OAI Identifier: oai:oa.upm.es:43929
Deposited by: Martin Molina
Deposited on: 21 Nov 2016 07:44
Last Modified: 21 Nov 2016 07:44
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