Observatorio de I+D+i UPM

Memorias de investigación
Communications at congresses:
AEROSTACK: An Architecture and Open-Source Software Framework for Aerial Robotics
Year:2016
Research Areas
  • Aerial robots,
  • Cooperative robots,
  • Software architectures,
  • Computer vision
Information
Abstract
To simplify the usage of the Unmanned Aerial Systems (UAS), extending their use to a great number of applications, fully autonomous operation is needed. There are many open-source architecture frameworks for UAS that claim the autonomous operation of UAS, but they still have two main open issues: (1) level of autonomy, being in most of the cases limited and (2) versatility, being most of them designed specifically for some applications or aerial platforms. As a response to these needs and issues, this paper presents Aerostack, a system architecture and open-source multi-purpose software framework for autonomous multi-UAS operation. To provide higher degrees of autonomy, Aerostack?s system architecture integrates state of the art concepts of intelligent, cognitive and social robotics, based on five layers: reactive, executive, deliberative, reflective, and social. To be a highly versatile practical solution, Aerostack?s open-source software framework includes the main components to execute the architecture for fully autonomous missions of swarms of UAS; a collection of ready-to-use and flight proven modular components that can be reused by the users and developers; and compatibility with five well known aerial platforms, as well as a high number of sensors. Aerostack has been validated during three years by its successful use on many research projects, international competitions and exhibitions. To corroborate this fact, this paper also presents Aerostack carrying out a fictional fully autonomous indoors search and rescue mission.
International
Si
Congress
International Conference on Unmanned Aircraft Systems (ICUAS), 2016
960
Place
Arlington, Virginia, USA
Reviewers
Si
ISBN/ISSN
978-1-4673-9334-8
10.1109/ICUAS.2016.7502591
Start Date
07/06/2016
End Date
10/06/2016
From page
332
To page
341
AEROSTACK: An Architecture and Open-Source Software Framework for Aerial Robotics
Participants
  • Autor: Jose Luis Sanchez Lopez (UPM)
  • Autor: Ramón Suarez Fernández (UPM)
  • Autor: Carlos Sampedro Perez (UPM)
  • Autor: Martin Molina Gonzalez (UPM)
  • Autor: Jesus Pestana Puerta (UPM)
  • Autor: Pascual Campoy Cervera (UPM)
Research Group, Departaments and Institutes related
  • Creador: Grupo de Investigación: Visión por Computador y Robótica Aérea
  • Departamento: Inteligencia Artificial
  • Centro o Instituto I+D+i: Centro de Automática y Robótica (CAR). Centro Mixto UPM-CSIC
  • Departamento: Automática, Ingeniería Eléctrica y Electrónica e Informática Industrial
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