Autonomy Architectures
Antidio Viguria · Encyclopedia of Aerospace Engineering · 2016
Abstract The use of UAS that require a high level of autonomy is acquiring importance, especially in civil applications in complex and dangerous environments. In order to develop an autonomous UAS that implements complex behaviors, the use of a proper architecture to organize and manage all the different functionalities takes a relevant role. There are an important number of types of architectures for autonomous systems. However, the three‐layer architecture has been the most implemented and tested during the last 20 years. On the other hand, UAS present a number of particularities that should be considered when designing an autonomous UAS. These particularities require a decomposition of the autonomy architecture into two major levels. Therefore, these two levels are commented in detail explaining the different functionalities that could be implemented in each of them. Finally, an example of an autonomy architecture, implemented on a highly autonomous UAS and developed within the ARCAS project, is presented as a case study.