Multi Unmanned Aerial Vehicles (UAV) systems
Jérémi Gancet · HAL (Le Centre pour la Communication Scientifique Directe) · 2005
Unmanned Aerial Vehicles (UAV) meet a growing interest in the robotics community. They provide a wide range of applications, but also introduce particular operational modalities. In this work, we are interested in multi-UAV systems : the joint operation of a number of UAVs requires to design a multi-robot architecture that can take into account both UAVs capabilities and UAVs constraints. A generic executive is provided aiming at interfacing the different possible configurations of decisional autonomy delegation in the system : it receives and processes plans generated either by a control center in charge of all the UAVs (low levels of autonomy), or by the individual decision-making capabilities of each UAV (high levels of autonomy). In the former case, we introduce a deliberative layer that gathers a symbolic planner / geometric refiners couple, and a model-based interaction manager.