S. Lacroix, R. Alami, T. Lemaire, G. Hattenberger, J. Gancet. Decision making in multi-UAVs systems: Architecture and Algorithms. In Multiple Unmanned Aerial Vehicles, A Ollero, I Maza (eds.), Tracts on Advanced Robotics, Springer, 2007.
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This chapter depicts an architecture that aims at designing a multi-UAV framework enabling cooperative operations in a system in which some UAVs are directly controlled by an operator, others are only endowed with {operational autonomy}, and others have {decisional autonomy} capacities. The architecture provides with the possibility to configure dynamically the decisional scheme, depending on the available robots and on the operational context. A taxonomy of robots decisional autonomy is introduced, and used as a foundation to state the proposed architecture. The various functionalities on-board each robot are organized among a repartition that exhibits on-board functional components, and on-board or on-ground generic executive and decision making processes. A set of algorithms that fulfill the three main decision-making functionalities required in a multi-robot system are then presented: a contract-net protocol that can handle task allocation for complex multi-UAV missions, a planning scheme based on a Hierarchical Task Networks planner completed with plan-refiners that consider the actual domain models, and an executive system that handles the coordination and task execution issues
S. Lacroix
Rachid Alami
T. Lemaire
G. Hattenberger
J. Gancet
@InCollection{LACROIX-BOOKCOMETS-2007,
Author = {Lacroix, S. and Alami, R. and Lemaire, T. and Hattenberger, G. and Gancet, J.},
Title = {Decision making in multi-{UAV}s systems: Architecture and Algorithms},
BookTitle = {Multiple Unmanned Aerial Vehicles},
editor = {Ollero, A and Maza, I},
Series = {Tracts on Advanced Robotics},
Publisher = {Springer},
Month = {},
Year = {2007}
}
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