Article (Scientific journals)
A Multi-Layered Component-Based Approach for the Development of Aerial Robotic Systems: The Aerostack Framework
SANCHEZ LOPEZ, Jose Luis; Molina, Martin; BAVLE, Hriday et al.
2017In Journal of Intelligent and Robotic Systems, 88 (2), p. 638-709
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Keywords :
Aerial robotics; Robot architecture; Autonomous behavior; Distributed robot systems; Multi-robot coordination; Quadrotor; Mobile robots; Remotely operated vehicles; MAV
Abstract :
[en] To achieve fully autonomous operation for Unmanned Aerial Systems (UAS) it is necessary to integrate multiple and heterogeneous technical solutions (e.g., control-based methods, computer vision methods, automated planning, coordination algorithms, etc.). The combination of such methods in an operational system is a technical challenge that requires efficient architectural solutions. In a robotic engineering context, where productivity is important, it is also important to minimize the effort for the development of new systems. As a response to these needs, this paper presents Aerostack, an open-source software framework for the development of aerial robotic systems. This framework facilitates the creation of UAS by providing a set of reusable components specialized in functional tasks of aerial robotics (trajectory planning, self localization, etc.) together with an integration method in a multi-layered cognitive architecture based on five layers: reactive, executive, deliberative, reflective and social. Compared to other software frameworks for UAS, Aerostack can provide higher degrees of autonomy and it is more versatile to be applied to different types of hardware (aerial platforms and sensors) and different types of missions (e.g. multi robot swarm systems). Aerostack has been validated during four years (since February 2013) by its successful use on many research projects, international competitions and public exhibitions. As a representative example of system development, this paper also presents how Aerostack was used to develop a system for a (fictional) fully autonomous indoors search and rescue mission.
Disciplines :
Computer science
Author, co-author :
SANCHEZ LOPEZ, Jose Luis  ;  University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > Automation
Molina, Martin
BAVLE, Hriday  ;  University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > Automation
Sampedro, Carlos
Suarez-Fernandez, Ramon A.
Palacios, David
Diaz-Moreno, Alberto
Campoy, Pascual
External co-authors :
yes
Language :
English
Title :
A Multi-Layered Component-Based Approach for the Development of Aerial Robotic Systems: The Aerostack Framework
Publication date :
December 2017
Journal title :
Journal of Intelligent and Robotic Systems
ISSN :
0921-0296
eISSN :
1573-0409
Publisher :
Kluwer Academic Publishers, Dordrecht, Netherlands
Volume :
88
Issue :
2
Pages :
638-709
Peer reviewed :
Peer Reviewed verified by ORBi
Available on ORBilu :
since 19 January 2021

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