Assured Mission Adaptation of UAVs

Autores
Zudaire, Sebastián Alfredo; Nahabedian, Leandro Ezequiel; Uchitel, Sebastian
Año de publicación
2021
Idioma
inglés
Tipo de recurso
artículo
Estado
versión publicada
Descripción
The design of systems that can change their behaviour to account for scenarios that were not foreseen at design time remains an open challenge. In this article, we propose an approach for adaptation of mobile robot missions that is not constrained to a predefined set of mission evolutions. We implement an adaptive software architecture and show how controller synthesis can be used both to guarantee correct transitioning from the old to the new mission goals with runtime architectural reconfiguration to include new software actuators and sensors if necessary. The architecture brings together architectural concepts that are commonplace in robotics such as temporal planning, discrete, hybrid and continuous control layers together with architectural concepts from adaptive systems such as runtime models and runtime synthesis. We validate the architecture flying several missions taken from the robotic literature for different real and simulated UAVs.
Fil: Zudaire, Sebastián Alfredo. Comisión Nacional de Energía Atómica. Gerencia del Área de Energía Nuclear. Instituto Balseiro. Archivo Histórico del Centro Atómico Bariloche e Instituto Balseiro | Universidad Nacional de Cuyo. Instituto Balseiro. Archivo Histórico del Centro Atómico Bariloche e Instituto Balseiro; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Patagonia Norte; Argentina
Fil: Nahabedian, Leandro Ezequiel. Universidad de Buenos Aires. Facultad de Ciencias Exactas y Naturales. Departamento de Computación; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas. Oficina de Coordinación Administrativa Ciudad Universitaria. Instituto de Investigación en Ciencias de la Computación. Universidad de Buenos Aires. Facultad de Ciencias Exactas y Naturales. Instituto de Investigación en Ciencias de la Computación; Argentina
Fil: Uchitel, Sebastian. Consejo Nacional de Investigaciones Científicas y Técnicas. Oficina de Coordinación Administrativa Ciudad Universitaria. Instituto de Investigación en Ciencias de la Computación. Universidad de Buenos Aires. Facultad de Ciencias Exactas y Naturales. Instituto de Investigación en Ciencias de la Computación; Argentina. Universidad de Buenos Aires. Facultad de Ciencias Exactas y Naturales. Departamento de Computación; Argentina. Imperial College London; Reino Unido
Materia
DYNAMIC CONTROLLER UPDATE
DISCRETE EVENT CONTROLLER SYNTHESIS
CYBERPHYSICAL SYSTEMS
UAV APPLICATIONS
Nivel de accesibilidad
acceso abierto
Condiciones de uso
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
Repositorio
CONICET Digital (CONICET)
Institución
Consejo Nacional de Investigaciones Científicas y Técnicas
OAI Identificador
oai:ri.conicet.gov.ar:11336/213666
Acceder
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spelling Assured Mission Adaptation of UAVsZudaire, Sebastián AlfredoNahabedian, Leandro EzequielUchitel, SebastianDYNAMIC CONTROLLER UPDATEDISCRETE EVENT CONTROLLER SYNTHESISCYBERPHYSICAL SYSTEMSUAV APPLICATIONShttps://purl.org/becyt/ford/1.2https://purl.org/becyt/ford/1The design of systems that can change their behaviour to account for scenarios that were not foreseen at design time remains an open challenge. In this article, we propose an approach for adaptation of mobile robot missions that is not constrained to a predefined set of mission evolutions. We implement an adaptive software architecture and show how controller synthesis can be used both to guarantee correct transitioning from the old to the new mission goals with runtime architectural reconfiguration to include new software actuators and sensors if necessary. The architecture brings together architectural concepts that are commonplace in robotics such as temporal planning, discrete, hybrid and continuous control layers together with architectural concepts from adaptive systems such as runtime models and runtime synthesis. We validate the architecture flying several missions taken from the robotic literature for different real and simulated UAVs.Fil: Zudaire, Sebastián Alfredo. Comisión Nacional de Energía Atómica. Gerencia del Área de Energía Nuclear. Instituto Balseiro. Archivo Histórico del Centro Atómico Bariloche e Instituto Balseiro | Universidad Nacional de Cuyo. Instituto Balseiro. Archivo Histórico del Centro Atómico Bariloche e Instituto Balseiro; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Patagonia Norte; ArgentinaFil: Nahabedian, Leandro Ezequiel. Universidad de Buenos Aires. Facultad de Ciencias Exactas y Naturales. Departamento de Computación; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas. Oficina de Coordinación Administrativa Ciudad Universitaria. Instituto de Investigación en Ciencias de la Computación. Universidad de Buenos Aires. Facultad de Ciencias Exactas y Naturales. Instituto de Investigación en Ciencias de la Computación; ArgentinaFil: Uchitel, Sebastian. Consejo Nacional de Investigaciones Científicas y Técnicas. Oficina de Coordinación Administrativa Ciudad Universitaria. Instituto de Investigación en Ciencias de la Computación. Universidad de Buenos Aires. Facultad de Ciencias Exactas y Naturales. Instituto de Investigación en Ciencias de la Computación; Argentina. Universidad de Buenos Aires. Facultad de Ciencias Exactas y Naturales. Departamento de Computación; Argentina. Imperial College London; Reino UnidoAssociation for Computing Machinery2021-12info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionhttp://purl.org/coar/resource_type/c_6501info:ar-repo/semantics/articuloapplication/pdfapplication/pdfapplication/pdfapplication/pdfhttp://hdl.handle.net/11336/213666Zudaire, Sebastián Alfredo; Nahabedian, Leandro Ezequiel; Uchitel, Sebastian; Assured Mission Adaptation of UAVs; Association for Computing Machinery; Acm Transactions On Autonomous And Adaptive Systems; 16; 3-4; 12-2021; 1-271556-4665CONICET DigitalCONICETenginfo:eu-repo/semantics/altIdentifier/url/https://dl.acm.org/doi/10.1145/3513091info:eu-repo/semantics/altIdentifier/doi/10.1145/3513091info:eu-repo/semantics/openAccesshttps://creativecommons.org/licenses/by-nc-sa/2.5/ar/reponame:CONICET Digital (CONICET)instname:Consejo Nacional de Investigaciones Científicas y Técnicas2025-11-05T10:45:18Zoai:ri.conicet.gov.ar:11336/213666instacron:CONICETInstitucionalhttp://ri.conicet.gov.ar/Organismo científico-tecnológicoNo correspondehttp://ri.conicet.gov.ar/oai/requestdasensio@conicet.gov.ar; lcarlino@conicet.gov.arArgentinaNo correspondeNo correspondeNo correspondeopendoar:34982025-11-05 10:45:19.164CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicasfalse
dc.title.none.fl_str_mv Assured Mission Adaptation of UAVs
title Assured Mission Adaptation of UAVs
spellingShingle Assured Mission Adaptation of UAVs
Zudaire, Sebastián Alfredo
DYNAMIC CONTROLLER UPDATE
DISCRETE EVENT CONTROLLER SYNTHESIS
CYBERPHYSICAL SYSTEMS
UAV APPLICATIONS
title_short Assured Mission Adaptation of UAVs
title_full Assured Mission Adaptation of UAVs
title_fullStr Assured Mission Adaptation of UAVs
title_full_unstemmed Assured Mission Adaptation of UAVs
title_sort Assured Mission Adaptation of UAVs
dc.creator.none.fl_str_mv Zudaire, Sebastián Alfredo
Nahabedian, Leandro Ezequiel
Uchitel, Sebastian
author Zudaire, Sebastián Alfredo
author_facet Zudaire, Sebastián Alfredo
Nahabedian, Leandro Ezequiel
Uchitel, Sebastian
author_role author
author2 Nahabedian, Leandro Ezequiel
Uchitel, Sebastian
author2_role author
author
dc.subject.none.fl_str_mv DYNAMIC CONTROLLER UPDATE
DISCRETE EVENT CONTROLLER SYNTHESIS
CYBERPHYSICAL SYSTEMS
UAV APPLICATIONS
topic DYNAMIC CONTROLLER UPDATE
DISCRETE EVENT CONTROLLER SYNTHESIS
CYBERPHYSICAL SYSTEMS
UAV APPLICATIONS
purl_subject.fl_str_mv https://purl.org/becyt/ford/1.2
https://purl.org/becyt/ford/1
dc.description.none.fl_txt_mv The design of systems that can change their behaviour to account for scenarios that were not foreseen at design time remains an open challenge. In this article, we propose an approach for adaptation of mobile robot missions that is not constrained to a predefined set of mission evolutions. We implement an adaptive software architecture and show how controller synthesis can be used both to guarantee correct transitioning from the old to the new mission goals with runtime architectural reconfiguration to include new software actuators and sensors if necessary. The architecture brings together architectural concepts that are commonplace in robotics such as temporal planning, discrete, hybrid and continuous control layers together with architectural concepts from adaptive systems such as runtime models and runtime synthesis. We validate the architecture flying several missions taken from the robotic literature for different real and simulated UAVs.
Fil: Zudaire, Sebastián Alfredo. Comisión Nacional de Energía Atómica. Gerencia del Área de Energía Nuclear. Instituto Balseiro. Archivo Histórico del Centro Atómico Bariloche e Instituto Balseiro | Universidad Nacional de Cuyo. Instituto Balseiro. Archivo Histórico del Centro Atómico Bariloche e Instituto Balseiro; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Patagonia Norte; Argentina
Fil: Nahabedian, Leandro Ezequiel. Universidad de Buenos Aires. Facultad de Ciencias Exactas y Naturales. Departamento de Computación; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas. Oficina de Coordinación Administrativa Ciudad Universitaria. Instituto de Investigación en Ciencias de la Computación. Universidad de Buenos Aires. Facultad de Ciencias Exactas y Naturales. Instituto de Investigación en Ciencias de la Computación; Argentina
Fil: Uchitel, Sebastian. Consejo Nacional de Investigaciones Científicas y Técnicas. Oficina de Coordinación Administrativa Ciudad Universitaria. Instituto de Investigación en Ciencias de la Computación. Universidad de Buenos Aires. Facultad de Ciencias Exactas y Naturales. Instituto de Investigación en Ciencias de la Computación; Argentina. Universidad de Buenos Aires. Facultad de Ciencias Exactas y Naturales. Departamento de Computación; Argentina. Imperial College London; Reino Unido
description The design of systems that can change their behaviour to account for scenarios that were not foreseen at design time remains an open challenge. In this article, we propose an approach for adaptation of mobile robot missions that is not constrained to a predefined set of mission evolutions. We implement an adaptive software architecture and show how controller synthesis can be used both to guarantee correct transitioning from the old to the new mission goals with runtime architectural reconfiguration to include new software actuators and sensors if necessary. The architecture brings together architectural concepts that are commonplace in robotics such as temporal planning, discrete, hybrid and continuous control layers together with architectural concepts from adaptive systems such as runtime models and runtime synthesis. We validate the architecture flying several missions taken from the robotic literature for different real and simulated UAVs.
publishDate 2021
dc.date.none.fl_str_mv 2021-12
dc.type.none.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/publishedVersion
http://purl.org/coar/resource_type/c_6501
info:ar-repo/semantics/articulo
format article
status_str publishedVersion
dc.identifier.none.fl_str_mv http://hdl.handle.net/11336/213666
Zudaire, Sebastián Alfredo; Nahabedian, Leandro Ezequiel; Uchitel, Sebastian; Assured Mission Adaptation of UAVs; Association for Computing Machinery; Acm Transactions On Autonomous And Adaptive Systems; 16; 3-4; 12-2021; 1-27
1556-4665
CONICET Digital
CONICET
url http://hdl.handle.net/11336/213666
identifier_str_mv Zudaire, Sebastián Alfredo; Nahabedian, Leandro Ezequiel; Uchitel, Sebastian; Assured Mission Adaptation of UAVs; Association for Computing Machinery; Acm Transactions On Autonomous And Adaptive Systems; 16; 3-4; 12-2021; 1-27
1556-4665
CONICET Digital
CONICET
dc.language.none.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv info:eu-repo/semantics/altIdentifier/url/https://dl.acm.org/doi/10.1145/3513091
info:eu-repo/semantics/altIdentifier/doi/10.1145/3513091
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
eu_rights_str_mv openAccess
rights_invalid_str_mv https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
dc.format.none.fl_str_mv application/pdf
application/pdf
application/pdf
application/pdf
dc.publisher.none.fl_str_mv Association for Computing Machinery
publisher.none.fl_str_mv Association for Computing Machinery
dc.source.none.fl_str_mv reponame:CONICET Digital (CONICET)
instname:Consejo Nacional de Investigaciones Científicas y Técnicas
reponame_str CONICET Digital (CONICET)
collection CONICET Digital (CONICET)
instname_str Consejo Nacional de Investigaciones Científicas y Técnicas
repository.name.fl_str_mv CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicas
repository.mail.fl_str_mv dasensio@conicet.gov.ar; lcarlino@conicet.gov.ar
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score 13.087074

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