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

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...

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Detalles Bibliográficos
Autores: Molina González, Martín, Carrera, Abraham, Camporredondo Portela, Alberto, Bavle, Hriday, Rodriguez Ramos, Alejandro, Campoy Cervera, Pascual
Tipo de recurso: artículo
Estado:Versión publicada
Fecha de publicación:2020
País:España
Institución:Consejo Superior de Investigaciones Científicas (CSIC)
Repositorio:DIGITAL.CSIC. Repositorio Institucional del CSIC
OAI Identifier:oai:digital.csic.es:10261/219117
Acceso en línea:http://hdl.handle.net/10261/219117
Access Level:acceso abierto
Palabra clave:Executive system
Aerial robotics
Control architectures
Open-source framework
software engineering with Robot Operating System (ROS)
Robotics Software Design and Engineering (IJARS-ROSENG)
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spelling Building the executive system of autonomous aerial robots using the Aerostack open-source frameworkMolina González, MartínCarrera, AbrahamCamporredondo Portela, AlbertoBavle, HridayRodriguez Ramos, AlejandroCampoy Cervera, PascualExecutive systemAerial roboticsControl architecturesOpen-source frameworksoftware engineering with Robot Operating System (ROS)Robotics Software Design and Engineering (IJARS-ROSENG)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).The author(s) disclosed receipt of the following financial support for the research, authorship, and/or publication of this article: Part of the work presented in this article has been developed as a project supported by the European Union’s Horizon 2020 Research and Innovation Program under the Project ROSIN (no. 732287). This work has also received funding from the Spanish Ministry of Science, Innovation and Universities through the project RTI2018-100847-B-C21.Peer reviewedUniversidad Politécnica de MadridEuropean CommissionMinisterio de Ciencia, Innovación y Universidades (España)Molina González, Martín [0000-0001-7145-1974]Bavle, Hriday [0000-0002-1732-0647]Rodriguez Ramos, Alejandro [0000-0002-9710-7810]Campoy Cervera, Pascual [0000-0002-9894-2009]Consejo Superior de Investigaciones Científicas [https://ror.org/02gfc7t72]202020202020info:eu-repo/semantics/articlehttp://purl.org/coar/resource_type/c_6501Publisher's versioninfo:eu-repo/semantics/publishedVersionhttp://hdl.handle.net/10261/219117reponame:DIGITAL.CSIC. Repositorio Institucional del CSICinstname:Consejo Superior de Investigaciones Científicas (CSIC)Inglés#PLACEHOLDER_PARENT_METADATA_VALUE##PLACEHOLDER_PARENT_METADATA_VALUE#info:eu-repo/grantAgreement/EC/H2020/732287info:eu-repo/grantAgreement/AEI/Plan Estatal de Investigación Científica y Técnica y de Innovación 2017-2020/RTI2018-100847-B-C21https://doi.org/https://doi.org/10.1177/1729881420925000Síinfo:eu-repo/semantics/openAccessoai:digital.csic.es:10261/2191172026-05-22T06:33:51Z
dc.title.none.fl_str_mv Building the executive system of autonomous aerial robots using the Aerostack open-source framework
title Building the executive system of autonomous aerial robots using the Aerostack open-source framework
spellingShingle Building the executive system of autonomous aerial robots using the Aerostack open-source framework
Molina González, Martín
Executive system
Aerial robotics
Control architectures
Open-source framework
software engineering with Robot Operating System (ROS)
Robotics Software Design and Engineering (IJARS-ROSENG)
title_short Building the executive system of autonomous aerial robots using the Aerostack open-source framework
title_full Building the executive system of autonomous aerial robots using the Aerostack open-source framework
title_fullStr Building the executive system of autonomous aerial robots using the Aerostack open-source framework
title_full_unstemmed Building the executive system of autonomous aerial robots using the Aerostack open-source framework
title_sort Building the executive system of autonomous aerial robots using the Aerostack open-source framework
dc.creator.none.fl_str_mv Molina González, Martín
Carrera, Abraham
Camporredondo Portela, Alberto
Bavle, Hriday
Rodriguez Ramos, Alejandro
Campoy Cervera, Pascual
author Molina González, Martín
author_facet Molina González, Martín
Carrera, Abraham
Camporredondo Portela, Alberto
Bavle, Hriday
Rodriguez Ramos, Alejandro
Campoy Cervera, Pascual
author_role author
author2 Carrera, Abraham
Camporredondo Portela, Alberto
Bavle, Hriday
Rodriguez Ramos, Alejandro
Campoy Cervera, Pascual
author2_role author
author
author
author
author
dc.contributor.none.fl_str_mv European Commission
Ministerio de Ciencia, Innovación y Universidades (España)
Molina González, Martín [0000-0001-7145-1974]
Bavle, Hriday [0000-0002-1732-0647]
Rodriguez Ramos, Alejandro [0000-0002-9710-7810]
Campoy Cervera, Pascual [0000-0002-9894-2009]
Consejo Superior de Investigaciones Científicas [https://ror.org/02gfc7t72]
dc.subject.none.fl_str_mv Executive system
Aerial robotics
Control architectures
Open-source framework
software engineering with Robot Operating System (ROS)
Robotics Software Design and Engineering (IJARS-ROSENG)
topic Executive system
Aerial robotics
Control architectures
Open-source framework
software engineering with Robot Operating System (ROS)
Robotics Software Design and Engineering (IJARS-ROSENG)
description 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).
publishDate 2020
dc.date.none.fl_str_mv 2020
2020
2020
dc.type.none.fl_str_mv info:eu-repo/semantics/article
http://purl.org/coar/resource_type/c_6501
Publisher's version
info:eu-repo/semantics/publishedVersion
format article
status_str publishedVersion
dc.identifier.none.fl_str_mv http://hdl.handle.net/10261/219117
url http://hdl.handle.net/10261/219117
dc.language.none.fl_str_mv Inglés
language_invalid_str_mv Inglés
dc.relation.none.fl_str_mv #PLACEHOLDER_PARENT_METADATA_VALUE#
#PLACEHOLDER_PARENT_METADATA_VALUE#
info:eu-repo/grantAgreement/EC/H2020/732287
info:eu-repo/grantAgreement/AEI/Plan Estatal de Investigación Científica y Técnica y de Innovación 2017-2020/RTI2018-100847-B-C21
https://doi.org/https://doi.org/10.1177/1729881420925000
Sí
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.publisher.none.fl_str_mv Universidad Politécnica de Madrid
publisher.none.fl_str_mv Universidad Politécnica de Madrid
dc.source.none.fl_str_mv reponame:DIGITAL.CSIC. Repositorio Institucional del CSIC
instname:Consejo Superior de Investigaciones Científicas (CSIC)
instname_str Consejo Superior de Investigaciones Científicas (CSIC)
reponame_str DIGITAL.CSIC. Repositorio Institucional del CSIC
collection DIGITAL.CSIC. Repositorio Institucional del CSIC
repository.name.fl_str_mv
repository.mail.fl_str_mv
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score 15,81155

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