FUNCTIONAL MODULES FOR INTERMIXED PLANNING AND EXECUTION OF AN OBSERVATION MISSION
Élodie Chanthery, Magali Barbier · 2003
This paper presents an implementation of functional modules for intermixed planning and execution of an observation mission for an UAV. The mission is a mean altitude navigation in a 3D partially known and dynamic environment. The mission plan includes operations such as area survey, outline following and object search, defined off-line by an operator. It must satisfy constraints due to the vehicle, the environment and the mission. The ProCoSA