Building the executive system of autonomous aerial robots using the Aerostack open-source framework

Molina González, Martín and Carrera, Abraham and Camporredondo Portela, Alberto and Bavle, Hriday and Rodriguez Ramos, Alejandro and Campoy Cervera, Pascual (2020). Building the executive system of autonomous aerial robots using the Aerostack open-source framework. "International Journal of Advanced Robotic Systems", v. 17 (n. 3); pp. 1-20. ISSN 1729-8814. https://doi.org/https://doi.org/10.1177/1729881420925000.

Description

Title: Building the executive system of autonomous aerial robots using the Aerostack open-source framework
Author/s:
  • Molina González, Martín
  • Carrera, Abraham
  • Camporredondo Portela, Alberto
  • Bavle, Hriday
  • Rodriguez Ramos, Alejandro
  • Campoy Cervera, Pascual
Item Type: Article
Título de Revista/Publicación: International Journal of Advanced Robotic Systems
Date: 11 June 2020
ISSN: 1729-8814
Volume: 17
Subjects:
Faculty: E.T.S. de Ingenieros Informáticos (UPM)
Department: Inteligencia Artificial
Creative Commons Licenses: Recognition

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Abstract

A variety of open-source software tools are currently available to help building autonomous mobile robots. These tools have proven their effectiveness in developing different types of robotic systems, but there are still needs related to safety and efficiency that are not sufficiently covered. This article describes recent advances in the Aerostack software framework to address part of these needs, which may become critical in the case of aerial robots. The article describes a software tool that helps to develop the executive system, an important component of the control architecture whose characteristics significantly affect the quality of the final autonomous robotic system. The presented tool uses an original solution for execution control that aims at simplifying mission specification and protecting against errors, considering also the efficiency needs of aerial robots. The effectiveness of the tool was evaluated by building an experimental autonomous robot. The results of the evaluation show that it provides significant benefits about usability and reliability with acceptable development effort and computational cost. The tool is based on Robot Operating System and it is publicly available as part of the last release of the Aerostack software framework (version 3.0).

Funding Projects

TypeCodeAcronymLeaderTitle
Horizon 2020732287ROSINUnspecifiedROS-Industrial quality-assured robot software components
Government of SpainRTI2018-100847-B-C21UnspecifiedUnspecifiedUnspecified

More information

Item ID: 62701
DC Identifier: http://oa.upm.es/62701/
OAI Identifier: oai:oa.upm.es:62701
DOI: https://doi.org/10.1177/1729881420925000
Deposited by: Martin Molina
Deposited on: 11 Jun 2020 13:34
Last Modified: 11 Jun 2020 13:34
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