Specification and Planning of UAV Missions: A Process Algebra Approach
Name
Karaman-2009-Specification and Planning of UAV Missions A Process Algebra Approach.pdf
Size
530.8 KB
Format
Adobe PDF
Checksum (MD5)
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Author(s)
Karaman, Sertac
Rasmussen, Steven
Kingston, Derek
Frazzoli, Emilio
Date Issued
July 2009
Journal
American Control Conference, 2009. ACC '09.
Citation
Karaman, S. et al. “Specification and planning of UAV missions: a Process Algebra approach.” American Control Conference, 2009. ACC '09. 2009. 1442-1447. Web.
Version
Final published version
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.
MIT Department
Massachusetts Institute of Technology. Department of Aeronautics and Astronautics
Massachusetts Institute of Technology. Department of Mechanical Engineering
Terms of Use
Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/ACC.2009.5160520
