Intelligent Systems Software for Unmanned Air Vehicles
Gregory L. Sinsley, Lyle N. Long, Albert F. Niessner, Joseph F. Horn · 46th AIAA Aerospace Sciences Meeting and Exhibit · 2008
This paper describes a software architecture for mission-level control of autonomous unmanned air vehicles (UAVs). The architecture provides for sensor data fusion, worldview generation, and mission planning and execution. Details about the airborne platform and a high-level description of the control architecture are provided. As an example of the architecture’s versatility a formation flight behavior is described. I.