Building the executive system of autonomous aerial robots using the Aerostack open-source framework

作     者：Molina, Martin Carrera, Abraham Camporredondo, Alberto Bavle, Hriday Rodriguez-Ramos, Alejandro Campoy, Pascual 

作者机构：Univ Politecn Madrid Dept Artificial Intelligence Campus Montegancedo S-N Madrid 28660 Spain Univ Politecn Madrid Ctr Automat & Robot UPM CSIC Madrid Spain 

出 版 物：《INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS》 (Int. J. Adv. Rob. Syst.)

年 卷 期：2020年第17卷第3期

核心收录：

基　　金：European Union Spanish Ministry of Science, Innovation and Universities [RTI2018-100847-B-C21] 

主　　题：Executive system aerial robotics control architecture open-source framework software engineering with Robot Operating System (ROS) Robotics Software Design and Engineering (IJARS-ROSENG) 

摘      要：A variety of open-source software tools are currently available to help building autonomous mobile robots. These tools have proven their effectiveness in developing different types of robotic systems, but there are still needs related to safety and efficiency that are not sufficiently covered. This article describes recent advances in the Aerostack software framework to address part of these needs, which may become critical in the case of aerial robots. The article describes a software tool that helps to develop the executive system, an important component of the control architecture whose characteristics significantly affect the quality of the final autonomous robotic system. The presented tool uses an original solution for execution control that aims at simplifying mission specification and protecting against errors, considering also the efficiency needs of aerial robots. The effectiveness of the tool was evaluated by building an experimental autonomous robot. The results of the evaluation show that it provides significant benefits about usability and reliability with acceptable development effort and computational cost. The tool is based on Robot Operating System and it is publicly available as part of the last release of the Aerostack software framework (version 3.0).