ICUAS 2020 Paper Abstract

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Paper ThC2.3

Goudarzi, Hirad (University of Bristol), Richards, Arthur (University of Bristol)

UAV Mission Monitoring and Sequencing

Scheduled for presentation during the Regular Session "Fail-Safe Systems" (ThC2), Thursday, September 3, 2020, 17:40−18:00, Kozani

2020 International Conference on Unmanned Aircraft Systems (ICUAS), September 1-4, 2020 (Postponed from June 9-12, 2020), Athens, Greece

This information is tentative and subject to change. Compiled on September 25, 2020

Keywords Fail-Safe Systems, Control Architectures, Levels of Safety

Abstract

A method is proposed to enhance the automation of Unmanned Aerial Vehicle operations. Waypoint-based missions are augmented with safety monitoring of the UAV as a whole and execution monitoring and control of each mission leg. The monitoring and control are implemented using a Behaviour Tree which is automatically generated from the waypoints. The approach exploits the modularity of Behaviour Trees to populate a standard mission template with modules appropriate to each mission. The result is a highly flexible and reconfigurable framework that is easy to use for those overseeing the flight. Simulated flight results in a simple inspection scenario are provided.

 

 

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