Multi-UAV platform for integration in mixed-initiative coordinated missions

TitleMulti-UAV platform for integration in mixed-initiative coordinated missions
Publication TypeConference Paper
Year of Publication2006
AuthorsAlmeida, P, Gonçalves, G, de Sousa, JBorges
EditorRibeiro, CHC
Conference Name1st IFAC Workshop on Multi-
Date Publishedoct
Keywordsaircraft control, aircraft operations, automata theory, middleware, networked vehicle system, tracking systems
Abstract

The Apollo system for unmanned air vehicle (UAV) control is described. This is done in the context of the AsasF project from Porto University. Apollo is the UAV controller component of the AsasF control hierarchy. Apollo provides a uniform vehicle interface which is targeted at multi-vehicle operations in a mixed initiative environment allowing the intervention of experienced human operators. Apollo decouples the details of UAV control from the organization of external controllers in the AsasF control hierarchy. Apollo has a layered structure modelled in the framework of dynamic networks of hybrid automata. There is a mission supervisor, a vehicle supervisor and manoeuvre controllers, one per type of manoeuvre.

URLhttp://whale.fe.up.pt/asasf/images/c/cc/Multi-UAV{\_}Platform{\_}for{\_}Integration{\_}in{\_}Mixed-Initiative{\_}Coordinated{\_}Missions2.pdf http://www.ifac-papersonline.net/Detailed/29813.html
DOI10.3182/20061002-2-BR-4906.00013