A flexible and dynamic mission planning architecture for UAV swarm coordination

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 a...

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Published in2016 International Conference on Unmanned Aircraft Systems (ICUAS) pp. 355 - 363
Main Authors Sampedro, Carlos, Bavle, Hriday, Sanchez-Lopez, Jose Luis, Suarez Fernandez, Ramon A., Rodriguez-Ramos, Alejandro, Molina, Martin, Campoy, Pascual
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.06.2016
Subjects
Computer architecture
Monitoring
Planning
Real-time systems
Robot kinematics
Trajectory
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Summary: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 multi-agent 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.
DOI:10.1109/ICUAS.2016.7502669