Observatorio de I+D+i UPM

Descripción
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
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.2016.7502669
Fecha inicio congreso	07/06/2016
Fecha fin congreso	10/06/2016
Desde la página	355
Hasta la página	363
Título de las actas	A Flexible and Dynamic Mission Planning Architecture For UAV Swarm Coordination

Esta actividad pertenece a memorias de investigación

• Autor: Carlos Sampedro Perez (UPM)
• Autor: Hriday Bavle Milind (UPM)
• Autor: Jose Luis Sanchez Lopez (UPM)
• Autor: Ramon Antonio Suarez Fernandez (UPM)
• Autor: Martin Molina Gonzalez (UPM)
• Autor: Pascual Campoy Cervera (UPM)

• 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