ICUAS 2021 Paper Abstract

Close

Paper FrA2.2

Jünger, Franz (German Aerospace Center (DLR)), Schopferer, Simon (German Aerospace Center (DLR)), Benders, Sebastian (German Aerospace Center (DLR)), Dauer, Johann (German Aerospace Center (DLR))

Talking to Autonomous Drones: Command and Control Based on Hierarchical Task Decomposition

Scheduled for presentation during the Regular Session "Control Design IV" (FrA2), Friday, June 18, 2021, 09:20−09:40, Kozani

2021 International Conference on Unmanned Aircraft Systems (ICUAS), June 15-18, 2021, Athens, Greece

This information is tentative and subject to change. Compiled on March 29, 2024

Keywords Autonomy, UAS Communications, Control Architectures

Abstract

With increasing onboard intelligence and planning capabilities, autonomous unmanned aircraft system (UAS) can execute a wide spectrum of tasks ranging from low-level flight tasks to complex abstract mission tasks. Regardless of their onboard intelligence, most state-of-the-art UAS are commanded with waypoint-based command and control (C2) interfaces. However, waypoint-based interfaces are not well suited to represent mission tasks at different levels of abstraction. In this work, we address the problem of designing a C2 interface for autonomous UAS at a conceptual level. We propose a C2 interface that allows operating UAS at different levels of autonomy using task decomposition and a hierarchical data format for transmission. This interface is designed to enable transparent and consistent communication of mission tasks between the ground control station and the onboard systems. We demonstrate the application of the interface for two different UAS mission scenarios in detail. The proposed interface is designed to supersede waypoint-based C2 interfaces for the next generation of UAS providing high-level autonomy through onboard intelligence.

 

 

All Content © PaperCept, Inc.

This site is protected by copyright and trademark laws under US and International law.
All rights reserved. © 2002-2024 PaperCept, Inc.
Page generated 2024-03-29  05:05:25 PST  Terms of use