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)

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Available from: Pablo Royo, Aug 23, 2015
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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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    • "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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    ABSTRACT: The development of Flight Control Systems (FCS) coupled with the availability of other Commercial Off-The Shelf (COTS) components is enabling the introduction of Unmanned Aircraft Systems (UAS) into the civil market. UAS have great potential to be used in a wide variety of civil applications such as environmental applications, emergency situations, surveillance tasks and more. In general, they are specially well suited for the so-called D-cube operations (Dirty, Dull or Dangerous). Current technology greatly facilitates the construction of UAS. Sophisticated flight con- trol systems also make them accessible to end users with little aeronautical expertise. How- ever, we believe that for its successful introduction into the civil market, progress needs to be made to deliver systems able to perform a wide variety of missions with minimal reconfiguration and with reduced operational costs. Most current flight plan specification mechanisms consist in a simple list of waypoints, an approach that has important limitations. This paper proposes a new specification mech- anism with semantically richer constructs that will enable the end user to specify more complex flight plans. The proposed formalism provides means for specifying iterative be- havior, conditional branching and other constructs to dynamically adapt the flight path to mission circumstances. Collaborating with the FCS, a new module on-board the UAS will be in charge of executing these plans. This research also studies how the proposed flight plan structure can be tailored to the specific needs of remote sensing. For these type of applications well structured and efficient area and perimeter scanning is mandatory. In this paper we introduce several strategies focused to optimize the scanning process for tactical or mini UAS. The paper also presents a prototype implementation of this module and the results obtained in simulations. Postprint (published version)
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