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