Skip to Main content Skip to Navigation
New interface
Conference papers

Task planning and control for a multi-UAV system: architecture and algorithms

Abstract : This paper presents a decisional architecture and the associated algorithms for multi-UAV (Unmanned Aerial Vehicle) systems. The architecture enables different schemes of decision distribution in the system, depending on the available decision making capabilities of the UAVs and on the operational constraints related to the tasks to achieve. The paper mainly fo-cuses on the deliberative layer of the UAVs: we detail a planning scheme where a symbolic planner relies on refinement tools that exploit UAVs and environment models. Integration effort related to decisional features is highlighted, and preliminary simulation results are provided.
Complete list of metadata

Cited literature [15 references]  Display  Hide  Download
Contributor : Rachid Alami Connect in order to contact the contributor
Submitted on : Sunday, January 13, 2019 - 8:40:34 PM
Last modification on : Tuesday, October 25, 2022 - 11:58:11 AM
Long-term archiving on: : Sunday, April 14, 2019 - 1:14:44 PM


Files produced by the author(s)


  • HAL Id : hal-01979746, version 1


Jérémi Gancet, Gautier Hattenberger, Rachid Alami, Simon Lacroix. Task planning and control for a multi-UAV system: architecture and algorithms. EEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Aug 2005, Edmonton, Canada. ⟨hal-01979746⟩



Record views


Files downloads