An execution control method for the Aerostack aerial robotics framework

Molina González, Martín and Camporredondo Portela, Alberto and Bavle, Hriday and Rodriguez Ramos, Alejandro and Campoy Cervera, Pascual (2019). An execution control method for the Aerostack aerial robotics framework. "Frontiers of Information Technology & Electronic Engineering", v. 20 ; pp. 60-75. ISSN 2095-9184. https://doi.org/10.1631/FITEE.1800552.

Description

Title: An execution control method for the Aerostack aerial robotics framework
Author/s:
  • Molina González, Martín
  • Camporredondo Portela, Alberto
  • Bavle, Hriday
  • Rodriguez Ramos, Alejandro
  • Campoy Cervera, Pascual
Item Type: Article
Título de Revista/Publicación: Frontiers of Information Technology & Electronic Engineering
Date: 8 January 2019
ISSN: 2095-9184
Volume: 20
Subjects:
Freetext Keywords: Aerial robotics; Control architecture; Behavior-based control; Executive system
Faculty: E.T.S.I. Industriales (UPM)
Department: Automática, Ingeniería Eléctrica y Electrónica e Informática Industrial
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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Abstract

Execution control is a critical task of robot architectures which has a deep impact on the quality of the final system. In this study, we describe a general method for execution control, which is a part of the Aerostack software framework for aerial robotics, and present technical challenges for execution control and design decisions to develop the method. The proposed method has an original design combining a distributed approach for execution control of behaviors (such as situation checking and performance monitoring) and centralizes coordination to ensure consistency of the concurrent execution. We conduct experiments to evaluate the method. The experimental results show that the method is general and usable with acceptable development efforts to efficiently work on different types of aerial missions. The method is supported by standards based on a robot operating system (ROS) contributing to its general use, and an open-source project is integrated in the Aerostack framework. Therefore, its technical details are fully accessible to developers and freely available to be used in the development of new aerial robotic systems.

Funding Projects

TypeCodeAcronymLeaderTitle
Horizon 2020732287ROSINTECHNISCHE UNIVERSITEIT DELFTROS-Industrial quality-assured robot software components

More information

Item ID: 64179
DC Identifier: http://oa.upm.es/64179/
OAI Identifier: oai:oa.upm.es:64179
DOI: 10.1631/FITEE.1800552
Official URL: https://link.springer.com/article/10.1631/FITEE.1800552
Deposited by: Memoria Investigacion
Deposited on: 20 Oct 2020 15:21
Last Modified: 22 Oct 2020 13:34
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