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15 April 2008 Multilevel control structure for autonomous robotic aircraft operation
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In this paper, a global control structure for autonomous robotic aircraft is proposed. The main objective of this advanced control structure is to provide the unmanned aircraft with the necessary autonomy, at different levels, so that it can accomplish complex missions, like autonomous exploration and patrolling, without the remote attendance of an operator. The solution proposed is based on a robotic methodology that considers a multilevel control structure, with different real time requirements, where each level is built on multiple interconnected and clearly defined modules. The proposed control structure consists of a high level mission control and supervision module, an intermediate level control module for navigation and obstacle management, and at the lower level, the control module which deals with stability and vessel survival. An implementation of the control architecture is shown for a UAV platform used for geophysical exploration.
© (2008) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Danilo Bassi "Multilevel control structure for autonomous robotic aircraft operation", Proc. SPIE 6960, Space Exploration Technologies, 69600B (15 April 2008);


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