用于Aerostack空中机器人框架的一种执行控制方法

Martin MOLINA; Alberto CAMPORREDONDO; Hriday BAVLE; Alejandro RODRIGUEZ-RAMOS; Pascual CAMPOY

doi:10.1631/FITEE.1800552

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用于Aerostack空中机器人框架的一种执行控制方法

复杂系统与智能控制专辑 | Updated：2022-05-19

- 用于Aerostack空中机器人框架的一种执行控制方法
- An execution control method for the Aerostack aerial robotics framework
- 信息与电子工程前沿（英文） 2019年20卷第1期页码：60-75
- Affiliations：
  
  Department of Artificial Intelligence, Universidad Politécnica de Madrid, Madrid 28040, Spain
  Centre for Automation and Robotics, Universidad Politécnica de Madrid, Madrid 28040, Spain
- Author bio：
  
  Martin MOLINA, E-mail: martin.molina@upm.es
- Funds：
  
  Project supported by the European Union's Horizon 2020 Research and Innovation Program under the Project ROSIN (No. 732287)
- DOI：10.1631/FITEE.1800552
  中图分类号： TP242.6
- 收稿：2018-09-11，
  
  修回：2019-;1-;8，
  
  纸质出版：2019-01
- Accepted：
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Martin MOLINA, Alberto CAMPORREDONDO, Hriday BAVLE, 等. 用于Aerostack空中机器人框架的一种执行控制方法[J]. 信息与电子工程前沿（英文）, 2019,20(1):60-75.

Martin MOLINA, Alberto CAMPORREDONDO, Hriday BAVLE, et al. An execution control method for the Aerostack aerial robotics framework[J]. Frontiers of Information Technology & Electronic Engineering, 2019, 20(1): 60-75.
Martin MOLINA, Alberto CAMPORREDONDO, Hriday BAVLE, 等. 用于Aerostack空中机器人框架的一种执行控制方法[J]. 信息与电子工程前沿（英文）, 2019,20(1):60-75. DOI： 10.1631/FITEE.1800552.

Martin MOLINA, Alberto CAMPORREDONDO, Hriday BAVLE, et al. An execution control method for the Aerostack aerial robotics framework[J]. Frontiers of Information Technology & Electronic Engineering, 2019, 20(1): 60-75. DOI： 10.1631/FITEE.1800552.

摘要

执行控制是机器人结构设计中的关键环节，对机器人终端系统质量有重要影响。描述了一种一般性的执行控制方法，用于Aerostack空中机器人软件架构，并提出执行控制和设计决策中的技术挑战。所提算法有一个原创设计，结合了用于行为（如位置检测和性能监测）执行控制的分布式方法，并集中协调，以保证并行执行的一致性。实验结果表明，该方法对不同类型空中任务具有一般性和可用性，可以高效执行任务。该方法受机器人操作系统标准支持，故适用性较广；此外，Aerostack框架集成了一项开源工程。因此，该方法的技术细节对开发者完全开放，开发者可自由地将其用于开发新型空中机器人系统。

Abstract

Execution control is a critical task of robot architectures which has a deep impact on the quality of the final system. In this study

we describe a general method for execution control

which is a part of the Aerostack software framework for aerial robotics

and present technical challenges for execution control and design decisions to develop the method. The proposed method has an original design combining a distributed approach for execution control of behaviors (such as situation checking and performance monitoring) and centralizes coordination to ensure consistency of the concurrent execution. We conduct experiments to evaluate the method. The experimental results show that the method is general and usable with acceptable development efforts to efficiently work on different types of aerial missions. The method is supported by standards based on a robot operating system (ROS) contributing to its general use

and an open-source project is integrated in the Aerostack framework. Therefore

its technical details are fully accessible to developers and freely available to be used in the development of new aerial robotic systems.

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