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

Jünger, Franz and Schopferer, Simon and Benders, Sebastian and Dauer, Johann (2021) Talking to Autonomous Drones: Command and Control Based on Hierarchical Task Decomposition. In: 2021 International Conference on Unmanned Aircraft Systems, ICUAS 2021, pp. 968-977. International Conference on Unmanned Aircraft Systems (ICUAS), 2021-06-15 - 2021-06-18, Athen, Griechenland. doi: 10.1109/ICUAS51884.2021.9476753. ISBN 978-073813115-3.

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Official URL: https://ieeexplore.ieee.org/document/9476753

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.

Item URL in elib:https://elib.dlr.de/142314/
Document Type:Conference or Workshop Item (Speech)
Title:Talking to Autonomous Drones: Command and Control Based on Hierarchical Task Decomposition
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Jünger, FranzUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Schopferer, SimonUNSPECIFIEDhttps://orcid.org/0000-0001-5254-3961UNSPECIFIED
Benders, SebastianUNSPECIFIEDhttps://orcid.org/0000-0001-6110-9438UNSPECIFIED
Dauer, JohannUNSPECIFIEDhttps://orcid.org/0000-0002-8287-2376UNSPECIFIED
Date:June 2021
Journal or Publication Title:2021 International Conference on Unmanned Aircraft Systems, ICUAS 2021
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
DOI:10.1109/ICUAS51884.2021.9476753
Page Range:pp. 968-977
ISBN:978-073813115-3
Status:Published
Keywords:unmanned aircraft, UAV, autonomy, command and control, task decomposition
Event Title:International Conference on Unmanned Aircraft Systems (ICUAS)
Event Location:Athen, Griechenland
Event Type:international Conference
Event Start Date:15 June 2021
Event End Date:18 June 2021
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Aeronautics
HGF - Program Themes:Components and Systems
DLR - Research area:Aeronautics
DLR - Program:L CS - Components and Systems
DLR - Research theme (Project):L - Unmanned Aerial Systems
Location: Braunschweig
Institutes and Institutions:Institute of Flight Systems > Unmanned Aircraft
Deposited By: Jünger, Franz
Deposited On:18 Aug 2021 16:00
Last Modified:24 Apr 2024 20:42

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