Article

Service abstraction layer for UAV flexible application development

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

ABSTRACT 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)

Full-text

Available from: Pablo Royo, May 28, 2015
0 Followers
 · 
119 Views
  • Source
    [Show abstract] [Hide abstract]
    ABSTRACT: UAS have great potential to be used in a wide variety of civil applications such as environmental applications, emergency situations, surveillance tasks and more. The devel-opment of Flight Control Systems (FCS) coupled with the availability of other Commercial Off-The Shelf (COTS) components is enabling the introduction of Unmanned Aircraft Sys-tems (UAS) into the civil market. Despite the increasing number of COTS components becoming available, much effort is still required in order to make UAS a viable commercial solution for civil applications. We believe that for UAS to be successful in this context they must be flexible systems able to perform a wide variety of missions with minimal reconfiguration and reduced operational costs. In previous work, a flight plan specification formalism and its corresponding execution engine have been presented. These elements may suffice for simple applications but for more complex scenarios, we need a mechanism that specifies the vehicle behavior not only in flight plan terms but also taking into account payload operation. To provide this integration and, at the same time, increase the level of automation a mission management layer is added on top of the flight plan management facilities. The system flexibility requirement is satisfied by decoupling the mission description from its execution engine. This paper introduces an XML based mission specification mechanism for modeling the event-driven state-based behavior of the UAS. The Mission Manager is the software module responsible for its execution. The integration of the Mission Manager with other components that form part of our UAS distributed architecture is also described.
  • [Show abstract] [Hide abstract]
    ABSTRACT: This paper assesses the departure and approach operations of unmanned aircraft systems in one of the most challenging scenarios: flying under visual flight rules. Inspired by some existing procedures for (manned) general aviation, some automatic and predefined procedures for unmanned aircraft systems are proposed. Hence, standardized paths to specific waypoints close to the airport are defined for departure operations, just before starting the navigation phase. Conversely, and for the approach maneuvers, a first ...
    Journal of Aircraft 07/2011; 48(8):1280-1290. DOI:10.2514/1.C031264 · 0.49 Impact Factor
  • Source
    [Show abstract] [Hide abstract]
    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).
    Proceedings of the 4th ACM SIGBED International Workshop on Design, Modeling, and Evaluation of Cyber-Physical Systems; 04/2014