A Flexible and Dynamic Mission Planning Architecture For UAV Swarm Coordination

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

Descripción

Título: A Flexible and Dynamic Mission Planning Architecture For UAV Swarm Coordination
Autor/es:
  • Sampedro, Carlos
  • Bavle, Hriday
  • Sanchez Lopez, Jose Luis
  • Suarez Fernandez, Ramon
  • Rodriguez Ramos, Alejandro
  • Molina, Martin
  • 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 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)
Título de Revista/Publicación: 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

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Resumen

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

Proyectos asociados

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

Más información

ID de Registro: 43929
Identificador DC: http://oa.upm.es/43929/
Identificador OAI: oai:oa.upm.es:43929
Depositado por: Martin Molina
Depositado el: 21 Nov 2016 07:44
Ultima Modificación: 21 Nov 2016 07:44
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