Observatorio de I+D+i UPM

Memorias de investigación
Ponencias en congresos:
AEROSTACK: An Architecture and Open-Source Software Framework for Aerial Robotics
Año:2016
Áreas de investigación
  • Robots aéreos,
  • Robots cooperativos,
  • Arquitecturas software,
  • Visión por computador
Datos
Descripción
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.
Internacional
Si
Nombre congreso
International Conference on Unmanned Aircraft Systems (ICUAS), 2016
Tipo de participación
960
Lugar del congreso
Arlington, Virginia, USA
Revisores
Si
ISBN o ISSN
978-1-4673-9334-8
DOI
10.1109/ICUAS.2016.7502591
Fecha inicio congreso
07/06/2016
Fecha fin congreso
10/06/2016
Desde la página
332
Hasta la página
341
Título de las actas
AEROSTACK: An Architecture and Open-Source Software Framework for Aerial Robotics
Esta actividad pertenece a memorias de investigación
Participantes
  • Autor: Jose Luis Sanchez Lopez (UPM)
  • Autor: Ramon Antonio Suarez Fernandez (UPM)
  • Autor: Carlos Sampedro Perez (UPM)
  • Autor: Martin Molina Gonzalez (UPM)
  • Autor: Jesus Pestana Puerta (UPM)
  • Autor: Pascual Campoy Cervera (UPM)
Grupos de investigación, Departamentos, Centros e Institutos de I+D+i relacionados
  • 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
S2i 2021 Observatorio de investigación @ UPM con la colaboración del Consejo Social UPM
Cofinanciación del MINECO en el marco del Programa INNCIDE 2011 (OTR-2011-0236)
Cofinanciación del MINECO en el marco del Programa INNPACTO (IPT-020000-2010-22)