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Asynchronous Behavior Trees with Memory aimed at Aerial Vehicles with Redundancy in Flight Controller

Safronov, Evgenii and Vilzmann, Michael and Tsetserukou, Dzmitry and Kondak, Konstantin (2019) Asynchronous Behavior Trees with Memory aimed at Aerial Vehicles with Redundancy in Flight Controller. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019. IROS 2019, 04. - 08. Nov. 2019, Macau. ISSN 2153-0858.

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Abstract

Complex aircraft systems are becoming a target for automation. For successful operation, they require both efficient and readable mission execution system (MES). Flight control computer (FCC) units, as well as all important subsystems, are often duplicated. Discrete nature of MES does not allow small differences in data flow among redundant FCCs which are acceptable for continuous control algorithms. Therefore, mission state consistency has to be specifically maintained. We present a novel MES which includes FCC state synchronization. To achieve this result we developed the new concept of Asynchronous Behavior Tree with Memory (ABTM) and proposed a state synchronization algorithm. The implemented system was tested and proven to work in a real-time simulation of High Altitude Pseudo Satellite (HAPS) mission.

Item URL in elib:https://elib.dlr.de/132885/
Document Type:Conference or Workshop Item (Poster)
Title:Asynchronous Behavior Trees with Memory aimed at Aerial Vehicles with Redundancy in Flight Controller
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Safronov, Evgeniievgenii.safronov (at) skoltech.ruUNSPECIFIED
Vilzmann, MichaelMichael.Vilzmann (at) dlr.deUNSPECIFIED
Tsetserukou, Dzmitryd.tsetserukou (at) skoltech.ruUNSPECIFIED
Kondak, Konstantinkonstantin.kondak (at) dlr.deUNSPECIFIED
Date:November 2019
Journal or Publication Title:2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
ISSN:2153-0858
Status:Published
Keywords:Control Architectures and Programming, Discrete Event Dynamic Automation Systems, Behavior Trees, Mission Execution, High-Altitude Platforms
Event Title:IROS 2019
Event Location:Macau
Event Type:international Conference
Event Dates:04. - 08. Nov. 2019
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - Autonomous Learning Robots [SY]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Autonomy and Teleoperation
Deposited By: Vilzmann, Michael
Deposited On:07 Jan 2020 09:10
Last Modified:25 Mar 2022 12:18

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