Behavior Flexibility for Autonomous Unmanned Aerial Systems

Abstract

The goal of this work was to assess the feasibility of a behavior-flexible development platform for UAS. This work first establishes the current state-of-the-art with regard autonomy frameworks, robotic software frameworks RSF, and flight controllers for UAS, components necessary for a development platform. The work then proposes a design incorporating the Unified Behavior Framework (a modular, extensible autonomy framework), the Robotic Operating System (an RSF), and PX4 (an open-source flight controller). Using the platform, the work then identifies a combination of autonomous robotic control strategies which are effective for small-scale navigation tasks in simulation. Finally, the work provides a partial validation of the simulated results through flight test. The development platform presented in this work is shown to be robust, responsive, and behavior-flexible both in simulation and reality.

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Document Details

Document Type
Technical Report
Publication Date
Mar 23, 2018
Accession Number
AD1055976

Entities

People

  • Taylor B Bodin

Organizations

  • Air Force Institute of Technology

Tags

Communities of Interest

  • Autonomy
  • Cyber
  • Human Systems
  • Space
  • Weapons Technologies

DTIC Thesaurus Topics

  • Air Force
  • Aircrafts
  • Algorithms
  • Artificial Intelligence
  • Autonomous Systems
  • Autonomous Vehicles
  • Computer Programming
  • Computers
  • Control Systems
  • Department Of Defense
  • Engineering
  • Flight Testing
  • Ground Control Stations
  • Kalman Filters
  • Literature Surveys
  • Navigation
  • Network Science
  • Operating Systems
  • Robot Navigation
  • Robotics
  • Software Development
  • Statistical Analysis
  • Unmanned Aerial Systems
  • Unmanned Aerial Vehicles

Fields of Study

  • Computer science

Readers

  • Aerial Unmanned Vehicle Swarm Micro Periodontal Dentistry.
  • Software Engineering.
  • Unmanned Aerial System (UAS) Autonomous Capabilities and Mission Reconnaissance.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • Autonomy
  • Autonomy - Autonomous System Control