Specifying Complex Missions for Aerial Robotics in Dynamic Environments
2016
To specify missions in aerial robotics, many
existing applications follow an approach based
on a list of waypoints, which has been proven
to be useful and practical in professional domains
(agriculture of precision, creation of terrain
maps, etc.). However this approach has limitations
to be used in other problems such as
the one defined in the IMAV 2016 competition
(e.g., a search and rescue mission). In this paper
we describe a language to specify missions for
aerial robotics that tries to overcome such limitations.
This language has been designed as part
of a complete software framework and architecture
for aerial robotics called Aerostack. The paper
describes the result of experimental evaluation
in real flight and its adequacy for the IMAV
2016 competition.
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