Distributed Control of Heterogeneous Team of Autonomous UAVs

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F16%3A00307481" target="_blank" >RIV/68407700:21230/16:00307481 - isvavai.cz</a>

Výsledek na webu

<a href="http://future-forces-forum.org/download/programmeMars.pdf" target="_blank" >http://future-forces-forum.org/download/programmeMars.pdf</a>

DOI - Digital Object Identifier

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Jazyk výsledku

angličtina

Název v původním jazyce

Distributed Control of Heterogeneous Team of Autonomous UAVs

Popis výsledku v původním jazyce

We propose software architecture for distributed control of a heterogeneous team of autonomous UAVs. Architecture allows distributed resource allocation and mission execution without the direct involvement of a human operator in the planning phase. Operator can address all assets as one unit and set global mission goals (such as area surveillance, mobile target tracking) without specifying which particular asset should perform which part of the mission. The system is able to autonomously allocate resources and execute the mission in a distributed manner. Agent-based techniques for negotiation, task allocation and coordination are used. Advantage of this approach is that the system is immune to situations such as loss of connectivity and addition of new or removal of any of the existing assets. Extensible and modular architecture of such a system was implemented. It addresses two important aspects – (i) it enables integration of various types of high and low-level trajectory planners on-board, together with algorithms for orchestrating their mutual dependencies and for solving conflicts among them, (ii) the platform provides a wrapper for planners and control algorithms and interfaces them with the underlying hardware (or simulated) infrastructure. High-level task planners (e.g., surveillance, mobile target tracking, or patrolling) were implemented and can be transparently integrated into the system. We implemented a simulation framework which allows verification of designed control algorithms in several modes, ranging from pure simulation, through the hardware-in-the-loop mode, mixed reality-simulation mode, to deployment on hardware assets. This approach proved to be useful to verify features and robustness of designed algorithms during the various stages of development and to speed up the whole process. Framework can be used for fast prototyping of various algorithms and their verification before deployment of hardware assets and their integration into a NAS

Název v anglickém jazyce

Distributed Control of Heterogeneous Team of Autonomous UAVs

Popis výsledku anglicky

We propose software architecture for distributed control of a heterogeneous team of autonomous UAVs. Architecture allows distributed resource allocation and mission execution without the direct involvement of a human operator in the planning phase. Operator can address all assets as one unit and set global mission goals (such as area surveillance, mobile target tracking) without specifying which particular asset should perform which part of the mission. The system is able to autonomously allocate resources and execute the mission in a distributed manner. Agent-based techniques for negotiation, task allocation and coordination are used. Advantage of this approach is that the system is immune to situations such as loss of connectivity and addition of new or removal of any of the existing assets. Extensible and modular architecture of such a system was implemented. It addresses two important aspects – (i) it enables integration of various types of high and low-level trajectory planners on-board, together with algorithms for orchestrating their mutual dependencies and for solving conflicts among them, (ii) the platform provides a wrapper for planners and control algorithms and interfaces them with the underlying hardware (or simulated) infrastructure. High-level task planners (e.g., surveillance, mobile target tracking, or patrolling) were implemented and can be transparently integrated into the system. We implemented a simulation framework which allows verification of designed control algorithms in several modes, ranging from pure simulation, through the hardware-in-the-loop mode, mixed reality-simulation mode, to deployment on hardware assets. This approach proved to be useful to verify features and robustness of designed algorithms during the various stages of development and to speed up the whole process. Framework can be used for fast prototyping of various algorithms and their verification before deployment of hardware assets and their integration into a NAS

Druh

O - Ostatní výsledky

CEP obor

JC - Počítačový hardware a software

OECD FORD obor

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Projekt

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Návaznosti

I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace

Rok uplatnění

2016

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů