An execution engine for aerial robot mission plans

Abstract

The goal of the work presented in this paper is to develop a practical solution for mission plan execution to simplify the way in which operators configure the missions of robots. This work has been done to promote a more extensive use of the software framework for aerial robotics Aerostack. We have designed a computer system called execution engine that includes technical solutions from general robotics and artificial intelligence. The system follows a behavior-based approach and a symbolic representation of beliefs. The execution engine has been designed to be part of Aerostack but it can also work independently, so that it can be reused for building other type of robot architectures. This paper has been written as a specification and software design to be used as a guide for software implementation of the execution engine.