Service Abstraction Layer for UAV Flexible Application Development

01/2008; DOI: 10.2514/6.2008-484
Source: OAI


An Unmanned Aerial System (UAS) is an uninhabited airplane, piloted by embed- ded avionics and supervised by an operator on ground. Unmanned Aerial Systems were designed to operate in dangerous situations, like military missions. With the avionics tech- nological evolution, Unmanned Aerial Systems also become a valid option for commercial applications, specially for dull and tedious surveillance applications. Cost considerations will also deviate some mission done today with conventional aircrafts to Unmanned Aerial Systems. In order to build economically viable UAS solutions, the same platform should be able to implement a variety of missions with little reconfiguration time and overhead. This paper describes a software abstraction layer for a Unmanned Aerial System distributed architecture. The proposed abstraction layer allows the easy and fast design of missions and solves in a cost-effective way the reusability of the system. The distributed architecture of the Unmanned Aerial System is service oriented. Func- tional units are implemented as independent services that interact each other using commu- nication primitives in a network centric approach. The paper presents a set of predefined services useful for reconfigurable civil missions and the directives for their communication. Postprint (published version)

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    • "Mathew et al. [11] present path-planning strategies for recharging autonomous vehicles performing persistent tasks. Royo et al. [15] employ a network centered, service oriented architecture to control UAV fleets. Developers use a distributed application interface, called UAV service abstraction layer, to access predefined services over the network to implement civil missions. "
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    ABSTRACT: We describe a Platform-as-a-Service (PaaS) system for performing multi-customer information acquisition missions on unmanned vehicle swarms operated and maintained by a third party. Customers implement their missions completely unaware of each other and the available vehicle infrastructure. Vehicle swarm providers may add or remove vehicles unnoticed by customers for maintenance, recharging, and refueling. To achieve this, we apply the paradigm of cloud computing to virtualized versions of unmanned vehicles. Our implementation allows the simulation of multi-customer information acquisition missions as well as their execution on real hardware running the robot operating system (ROS).
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    • "Furthermore, when investigating SOM in particular, very limited work is being done to use SOM for UAV systems. In [29], the researchers approach the issue and offer a good starting point in this direction. Several base services were introduced within an SOM model for UAV systems. "
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    ABSTRACT: For a while, UAV (Unmanned Aerial Vehicles) use was limited to military applications, however recently UAVs are also used for a wide range of civilian applications. Some of the UAV applications may involve multiple UAVs that must cooperate to achieve a common task. This kind of applications is termed collaborative UAV applications. One of the main issues for multiple UAVs is developing an effective framework to enable the development of software systems for collaborative UAV operations. One possible approach is to rely on service-oriented computing and service-oriented middleware technologies to simplify the development and operations of such applications. This paper discusses the challenges of developing collaborative UAV applications and how the service-oriented middleware approach can help resolve some of these challenges. The paper also investigates the collaborative aspects of multiple UAVs and proposes a service-oriented middleware architecture that can satisfy the development and operations of such applications.
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    • "The key to carry out a correct abstraction is to offer in the VAS interface the common functionality and data that can be found in any autopilot. On the first design of VAS [4] the purpose was to organize the information in the following four groups: "
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    ABSTRACT: Selecting the right autopilot to be integrated in a given UAS to develop a certain mission is a complex task because none of them are mutu-ally compatible. Moving from one autopilot to another may imply redesign form scratch all the remaining avionics in the UAS. This paper presents the Virtual Autopilot Sys-tem (VAS), an intermediate subsystem added to the UAS platform to abstract the autopilot from the mission and payload controller in a UAS. The VAS is a system that on one side interacts with the selected autopilot and therefore needs to be adapted to its peculiarities. On the other side, interacts with all the architecture offering stan-dardized information of the autopilot, and con-suming mission and payload orders.
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