HDRC3: A Distributed HybridDeliberative/Reactive Architecture for Unmanned Aircraft Systems

  • Patrick Doherty
  • Jonas Kvarnstrom
  • Mariusz Wzorek
  • Piotr Rudol
  • Fredrik Heintz
  • Gianpaolo Conte
Reference work entry

Abstract

This chapter presents a distributed architecture for unmanned aircraft systems that provides full integration of both low autonomy and high autonomy. The architecture has been instantiated and used in a rotor-based aerial vehicle, but is not limited to use in particular aircraft systems. Various generic functionalities essential to the integration of both low autonomy and high autonomy in a single system are isolated and described. The architecture has also been extended for use with multi-platform systems. The chapter covers the full spectrum of functionalities required for operation in missions requiring high autonomy. A Control Kernel is presented with diverse flight modes integrated with a navigation subsystem. Specific interfaces and languages are introduced which provide seamless transition between deliberative and reactive capability and reactive and control capability. Hierarchical Concurrent State Machines are introduced as a real-time mechanism for specifying and executing low-level reactive control. Task Specification Trees are introduced as both a declarative and procedural mechanism for specification of high-level tasks. Task planners and motion planners are described which are tightly integrated into the architecture. Generic middleware capability for specifying data and knowledge flow within the architecture based on a stream abstraction is also described. The use of temporal logic is prevalent and is used both as a specification language and as an integral part of an execution monitoring mechanism. Emphasis is placed on the robust integration and interaction between these diverse functionalities using a principled architectural framework. The architecture has been empirically tested in several complex missions, some of which are described in the chapter.

Keywords

State Machine Composite Action Laser Range Finder Path Planner Unmanned Aircraft 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer Science+Business Media Dordrecht 2015

Authors and Affiliations

  • Patrick Doherty
    • 1
  • Jonas Kvarnstrom
    • 1
  • Mariusz Wzorek
    • 1
  • Piotr Rudol
    • 1
  • Fredrik Heintz
    • 1
  • Gianpaolo Conte
    • 1
  1. 1.Department of Computer and Information ScienceLinköping UniversityLinköpingSweden

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