An Orocos-based decisional architecture for the Ressac missions
Guillaume Infantes, Charles Lesire, Henry de Plinval, Florent Teichteil-Königsbuch · 2009
The Onera-Ressac missions are dedicated to several purposes (exploration, detection, monitoring, tracking...) requiring decisional autonomy and possibly involving cooperation with other agents (vehicles or operators). In this context, we propose a general decisional architecture to manage these missions, based on the Orocos framework. We present the overall architecture including basic components, such as image acquisition and processing, communication protocols, navigation management. We specially go into detail for specific decision components, namely supervision and planning. We then discuss the possible architecture designs: hierarchical decomposition of the supervisor, synthesis and validation issues and reactive/deliberative reasoning.