Observatorio de I+D+i UPM

Memorias de investigación
Communications at congresses:
A Flexible and Dynamic Mission Planning Architecture For UAV Swarm Coordination
Year:2016
Research Areas
  • Aerial robots,
  • Autonomic robots,
  • Cooperative robots,
  • Computer vision
Information
Abstract
In this paper a scalable and flexible Architecture for real-time mission planning and dynamic agent-to-task assignment for a swarm of Unmanned Aerial Vehicles (UAV) is presented. The proposed mission planning architecture consists of a Global Mission Planner (GMP) which is responsible of assigning and monitoring different high-level missions through an Agent Mission Planner (AMP), which is in charge of providing and monitoring each task of the mission to each UAV in the swarm. The objective of the proposed architecture is to carry out high-level missions such as autonomous multiagent exploration, automatic target detection and recognition, search and rescue, and other different missions with the ability of dynamically re-adapt the mission in real-time. The proposed architecture has been evaluated in simulation and real indoor flights demonstrating its robustness in different scenarios and its flexibility for real-time mission re-planning and dynamic agent-to-task assignment
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.2016.7502669
Start Date
07/06/2016
End Date
10/06/2016
From page
355
To page
363
A Flexible and Dynamic Mission Planning Architecture For UAV Swarm Coordination
Participants
  • Autor: Carlos Sampedro Perez (UPM)
  • Autor: Hriday Bavle Milind (UPM)
  • Autor: Jose Luis Sanchez Lopez (UPM)
  • Autor: Ramón Suarez Fernández (UPM)
  • Autor: Martin Molina Gonzalez (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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