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|
|Date:||8 April 2009|
|In ISI Web of Science:||No|
|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)|
|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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