The Task Agent Resource Function application in UAV domain

The goal of the paper is to present an application of TARF (Task Agent Resource Function) in UAV domain. This TARF is used to optimize the tasks allocation in case of cooperation between multiple Unmanned Aerial Vehicles. It plays the role of a generic mission planner for cross domain such as UAV, maritime, automotive and manned aerial vehicle (MAV). This paper concentrates on how to integrate TARF in Paparazzi platform – an UAV platform based on PPRZ autopilot – in order to perform a swarm of aircrafts doing different tasks. The TARF contributes a new module to this platform for the simulation and real demonstrations.

[1]  Anawat Pongpunwattana,et al.  Real-Time Planning for Multiple Autonomous Vehicles in Dynamic Uncertain Environments , 2004, J. Aerosp. Comput. Inf. Commun..

[2]  Michal Pechoucek,et al.  Abstract Architecture for Task-oriented Multi-agent Problem Solving , 2011, IEEE Transactions on Systems, Man, and Cybernetics, Part C (Applications and Reviews).

[3]  Jonathan P. How,et al.  Multi-Task Allocation and Path Planning for Cooperating UAVs , 2003 .

[4]  Wei Hu,et al.  Dynamic group method based on health management applied to mission tasking for multi UAVs , 2012, Proceedings of the 10th World Congress on Intelligent Control and Automation.

[5]  Antoine Drouin,et al.  The Paparazzi Solution , 2006 .

[6]  Tor Arne Johansen,et al.  Task assignment for cooperating UAVs under radio propagation path loss constraints , 2012, 2012 American Control Conference (ACC).

[7]  Rachid Alami,et al.  Task planning and control for a multi-UAV system: architecture and algorithms , 2005, 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[8]  P. Hardin,et al.  An Unmanned Aerial Vehicle for Rangeland Photography , 2005 .

[9]  Han-Lim Choi,et al.  Real-Time Multi-UAV Task Assignment in Dynamic and Uncertain Environments , 2009 .

[10]  G. Conte,et al.  Utilizing Model Structure for Efficient Simultaneous Localization and Mapping for a UAV Application , 2008, 2008 IEEE Aerospace Conference.

[11]  Peter Strobl,et al.  Monitoring of gas pipelines - a civil UAV application , 2005 .

[12]  Timothy W. McLain,et al.  Autonomous Vehicle Technologies for Small Fixed Wing UAVs , 2003 .

[13]  Reid G. Smith,et al.  The Contract Net Protocol: High-Level Communication and Control in a Distributed Problem Solver , 1980, IEEE Transactions on Computers.

[14]  Pascal Brisset,et al.  A ‘No-Flow-Sensor’ Wind Estimation Algorithm for Unmanned Aerial Systems , 2012 .

[15]  Magali Barbier,et al.  PLANNING ALGORITHMS FOR AUTONOMOUS AERIAL VEHICLE , 2005 .

[16]  Xiaojing Du,et al.  The Design of Small UAV Autopilot Hardware System Based on DSP , 2010, 2010 International Conference on Intelligent Computation Technology and Automation.

[17]  Ravi Vaidyanathan,et al.  Decentralized cooperative auction for multiple agent task allocation using synchronized random number generators , 2003, Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453).

[18]  Daewon Lee,et al.  Build Your Own Quadrotor: Open-Source Projects on Unmanned Aerial Vehicles , 2012, IEEE Robotics & Automation Magazine.

[19]  Timothy W. McLain,et al.  Autonomous Vehicle Technologies for Small Fixed-Wing UAVs , 2005, J. Aerosp. Comput. Inf. Commun..