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Behavior-based High Level Control of a VTOL UAV

Adolf, Florian-Michael and Moraes Carneiro, Maurício (2009) Behavior-based High Level Control of a VTOL UAV. AIAA Infotech@Aerospace Conference, 2009-04-06 - 2009-04-09, Seattle, WA (USA).

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Light weight unmanned aerial vehicles are expected to have a high level of system autonomy during missions in urban terrain although their onboard computational and payload resources are quite limited. This work addresses the problem of providing such platforms with capabilities to plan and conduct missions under constrained onboard perception of the environment and with reduced on-board assistance. Two behaviors are proposed - Fly Home, and Search and Track Object - which can operate in the absence of an online path planner and without an on-board world model. The approach focuses on reorganizing and adapting tasks of a-priori mission plans. As a result, even under these constrained planning conditions, each high level behavior implements mission critical features and reduces the workload of an UAV operator.

Document Type:Conference or Workshop Item (Speech, Paper)
Title:Behavior-based High Level Control of a VTOL UAV
AuthorsInstitution or Email of Authors
Adolf, Florian-MichaelUNSPECIFIED
Moraes Carneiro, MaurícioInstituto Tecnológico de Aeronáutica, Sao José Dos Campos, Brasil
Date:8 April 2009
Refereed publication:No
In ISI Web of Science:No
American Institute of Aeronautics and Astronautics, ITAUNSPECIFIED
Series Name:AIAA Infotech@Aerospace Conference
Keywords:UAV, High Level Control, Behavior-based, Intelligent Systems Approaches to Autonomous Vehicle Control
Event Title:AIAA Infotech@Aerospace Conference
Event Location:Seattle, WA (USA)
Event Type:international Conference
Event Dates:2009-04-06 - 2009-04-09
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Aeronautics
HGF - Program Themes:other
DLR - Research area:Aeronautics
DLR - Program:L - no assignement
DLR - Research theme (Project):L - Air Traffic and Weather (old)
Location: Braunschweig
Institutes and Institutions:Institute of Flight Systems > Unmanned Aircraft
Deposited By: Florian-Michael Adolf
Deposited On:15 Apr 2009
Last Modified:15 Jan 2010 01:23

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