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ORBilu is a project developed by
   Building the executive system of autonomous aerial robots using the Aerostack open-source framework; ; et al in International Journal of Advanced Robotic Systems (2020), 17(3), 1--20 A variety of open-source software tools are currently available to help building autonomous mobile robots. These tools have proven their effectiveness in developing different types of robotic systems, but ... [more ▼] A variety of open-source software tools are currently available to help building autonomous mobile robots. These tools have proven their effectiveness in developing different types of robotic systems, but there are still needs related to safety and efficiency that are not sufficiently covered. This article describes recent advances in the Aerostack software framework to address part of these needs, which may become critical in the case of aerial robots. The article describes a software tool that helps to develop the executive system, an important component of the control architecture whose characteristics significantly affect the quality of the final autonomous robotic system. The presented tool uses an original solution for execution control that aims at simplifying mission specification and protecting against errors, considering also the efficiency needs of aerial robots. The effectiveness of the tool was evaluated by building an experimental autonomous robot. The results of the evaluation show that it provides significant benefits about usability and reliability with acceptable development effort and computational cost. The tool is based on Robot Operating System and it is publicly available as part of the last release of the Aerostack software framework (version 3.0). [less ▲] Detailed reference viewed: 38 (0 UL)An execution control method for the Aerostack aerial robotics framework; ; Bavle, Hriday  et alin Frontiers of Information Technology and Electronic Engineering (2019), 20(1), 60--75 Execution control is a critical task of robot architectures which has a deep impact on the quality of the final system. In this study, we describe a general method for execution control, which is a part ... [more ▼] Execution control is a critical task of robot architectures which has a deep impact on the quality of the final system. In this study, we describe a general method for execution control, which is a part of the Aerostack software framework for aerial robotics, and present technical challenges for execution control and design decisions to develop the method. The proposed method has an original design combining a distributed approach for execution control of behaviors (such as situation checking and performance monitoring) and centralizes coordination to ensure consistency of the concurrent execution. We conduct experiments to evaluate the method. The experimental results show that the method is general and usable with acceptable development efforts to efficiently work on different types of aerial missions. The method is supported by standards based on a robot operating system (ROS) contributing to its general use, and an open-source project is integrated in the Aerostack framework. Therefore, its technical details are fully accessible to developers and freely available to be used in the development of new aerial robotic systems. [less ▲] Detailed reference viewed: 54 (0 UL) |
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