Mission modeling, planning, and execution module for teams of unmanned vehicles

Jean-Pierre de la Croix; Grace Lim; Joshua Vander Hook; Amir Rahmani; Greg Droge; Alexander Xydes; Chris Scrapper Jr.

doi:10.1117/12.2266881

5 May 2017 Mission modeling, planning, and execution module for teams of unmanned vehicles

Jean-Pierre de la Croix, Grace Lim, Joshua Vander Hook, Amir Rahmani, Greg Droge, Alexander Xydes, Chris Scrapper Jr.

Proceedings Volume 10195, Unmanned Systems Technology XIX; 101950J (2017) https://doi.org/10.1117/12.2266881
Event: SPIE Defense + Security, 2017, Anaheim, CA, United States

Abstract

Mission Modeling, Planning, and Execution Module (M2PEM) is a user friendly graphical framework for mission design and execution. It extends a subset of the Business Process Modeling and Notation (BPMN) 2.0 for robotic applications. Hierarchical abstractions fundamental to BPMN allow the mission to be naturally decomposed into interdependent parallel sequences of BPMN elements. M2PEM adapts these elements in a role based framework which uses collaborative control modalities as an atomic building block. Designed missions are able to consider situational data, external stimuli, and direct user interaction. Missions are directly executable using a resource manager and a ROS-based execution engine.

Citation Download Citation

Jean-Pierre de la Croix, Grace Lim, Joshua Vander Hook, Amir Rahmani, Greg Droge, Alexander Xydes, and Chris Scrapper Jr. "Mission modeling, planning, and execution module for teams of unmanned vehicles", Proc. SPIE 10195, Unmanned Systems Technology XIX, 101950J (5 May 2017); https://doi.org/10.1117/12.2266881

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