Mission modeling, planning, and execution module for teams of unmanned vehicles
Jean-Pierre de la Croix, Grace Lim, Joshua Vander Hook, Amir Reza Rahmani, Greg N. Droge, Alexander Xydes, Chris Scrapper · Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · 2017
Mission Modeling, Planning, and Execution Module (M2PEM) is a user friendly graphical framework for mission design and execution. It extends a subset of the Business Process Modeling and Notation (BPMN) 2.0 for robotic applications. Hierarchical abstractions fundamental to BPMN allow the mission to be naturally decomposed into interdependent parallel sequences of BPMN elements. M2PEM adapts these elements in a role based framework which uses collaborative control modalities as an atomic building block. Designed missions are able to consider situational data, external stimuli, and direct user interaction. Missions are directly executable using a resource manager and a ROS-based execution engine.