The Task Agent Resource Function application in UAV domain

Tan-Viet-Anh Truong (1) , Petr Benda (2) , Jiri Vokrinek (2)

1 DRONES - ENAC - Programme transverse Drones
2 CTU - Czech Technical University in Prague

The goal of the paper is to present an application of TARF (Task Agent Resource Function) in UAV domain. This TARF is used to optimize the tasks allocation in case of cooperation between multiple Unmanned Aerial Vehicles. It plays the role of a generic mission planner for cross domain such as UAV, maritime, automotive and manned aerial vehicle (MAV). This paper concentrates on how to integrate TARF in Paparazzi platform - an UAV platform based on PPRZ autopilot - in order to perform a swarm of aircrafts doing different tasks. The TARF contributes a new module to this platform for the simulation and real demonstrations.

Domaines: Robotique [cs.RO]; Automatique / Robotique

Tan-Viet-Anh Truong, Petr Benda, Jiri Vokrinek. The Task Agent Resource Function application in UAV domain. AIAA GNC 2013, AIAA Guidance, Navigation and Control Conference, Aug 2013, Boston, United States. pp xxxx, ⟨10.2514/6.2013-4798⟩. ⟨hal-00936079⟩