Design of a coordination algorithm for the execution control system of aerial robots

Camporredondo Portela, Alberto (2019). Design of a coordination algorithm for the execution control system of aerial robots. Thesis (Master thesis), E.T.S. de Ingenieros Informáticos (UPM).

Description

Title: Design of a coordination algorithm for the execution control system of aerial robots
Author/s:
  • Camporredondo Portela, Alberto
Contributor/s:
  • Molina González, Martín
Item Type: Thesis (Master thesis)
Masters title: Ingeniería Informática
Date: 15 June 2019
Subjects:
Faculty: E.T.S. de Ingenieros Informáticos (UPM)
Department: Inteligencia Artificial
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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Abstract

Este proyecto se centra en la mejora de un sistema que coordina y controla las acciones que pueden realizar los vehículos autónomos. Este sistema es una parte crucial en el desarrollo de la inteligencia de dichos vehículos, puesto que es el intercambio de información entre una capa más racional y una capa más reactiva. Se parte de un software llamado Aerostack, desarrollado en el laboratorio CVAR (Computer Vision and Aerial Robotics) de la Universidad Politécnia de Madrid. En el presente documento se explica el diseño, desarrollo, pruebas y métricas obtenidas del nuevo software. Por nuevo software se entieneden los diferentes componentes desarrollados, explicados a continuación: - Un coordinador de aquellas acciones a realizar por un vehículo autónomo, de forma que debe tomar decisiones, lo más rápido posible, sobre si activa o no dichas acciones. Estableciendo así, un orden y un control que favorece el correcto funcionamiento de estos vehículos. - Unas herramientas que dotan a los desarrolladores de la posibilidad de ampliar las capacidades de los vehículos aéreos fácilmente, favoreciendo la integración de los mismos. - Un gestor de procesos que permite abstraer a los desarrolladores de la integración de dichas capacidades (mencionadas en el punto anterior) con procesos y controladores de bajo nivel.---ABSTRACT---This project is focused on the upgrade of a system that coordinates and controls several actions that an autonomous vehicle can perform. This system is crucial in the development of aerial vehicle’s intelligence, because it is the one in charge of the interchange of information between a more rational layer to a more reactive one. The project is started from a software called Aerostack, which is being developed by the CVAR (Computer Vision and Aerial Robotics) laboratory at the Technical University of Madrid (UPM). Inside this document, it is explained the design, development, tests and metrics carried out for the new software developed. This new software consist of different components, which are explain below: A coordinator of those actions to be carried out by an autonomous vehicle, so that it must make decision as quickly as possible, on whether or not such actions are active. Establishing an order and a control that favours the correct operation of these vehicles. - Tools that provide developers with the possibility of easily expanding capabilities of those vehicles, favouring the integration of the same. - A Process Manager that helps developers integrating those capabilities mentioned (in the above points) with low-level processes and controllers.

More information

Item ID: 55741
DC Identifier: http://oa.upm.es/55741/
OAI Identifier: oai:oa.upm.es:55741
Deposited by: Biblioteca Facultad de Informatica
Deposited on: 15 Jul 2019 10:26
Last Modified: 15 Jul 2019 10:26
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