Specification and planning of UAV missions: a process algebra approach

Authors:
Sertac Karaman;Steven Rasmussen;Derek Kingston;Emilio Frazzoli
Affiliations:
Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA;Miami Valley Aerospace LLC, Control Science Center of Excellence, Air Force Research Laboratory, Wright-Patterson AFB, OH;Control Science Center of Excellence, Air Force Research Laboratory, Wright-Patterson AFB, OH;Department of Aeronautics and Astronautics, Massachusetts Institute of Technology, Cambridge, MA
Venue:
ACC'09 Proceedings of the 2009 conference on American Control Conference
Year:
2009

Citing 6
Cited 1

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Abstract

Formal languages have recently come under attention as a powerful tool to describe in a precise and rigorous way mission specifications (i.e., mission objectives and constraints) for robotic systems, and to design planning and control algorithms that provably achieve the specifications. In this paper, we consider Process Algebras as a mission specification language for teams of UAVs. The main advantage of the proposed approach is that Process Algebra specifications are amenable to efficient planning algorithms. In particular, a tree-search algorithm is presented that computes a feasible plan in polynomial time. Branch-and-bound techniques are used to compute an optimal plan if computation time is available. Several mission specification examples are presented, and results from a numerical simulation are discussed.