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Automated mission planning for a fleet of micro air vehicules

Pierre-Selim Huard 1 Nicolas Barnier 2 Cédric Pralet 3
2 MAIA-OPTIM - ENAC Equipe MAIAA-OPTIM
MAIAA - ENAC - Laboratoire de Mathématiques Appliquées, Informatique et Automatique pour l'Aérien
Abstract : The ENAC University is using and developing the Paparazzi UAV system, which aims to provide a free and fully autonomous autopilot for a fleet of MAV, including fixed wing and rotary wing MAVs. The Paparazzi project has now succeeded in providing a fully autonomous navigation system for multiple fixed-wing aircraft system. One of the main concerns of the project is the development of autonomous decision making algorithms and cooperative behaviour between the different MAV of a fleet to increase the level of autonomy of the system. We can distinguish 4 different levels of autonomy: the manual level, the augmented stability level with or without pilot through video, the flight plan level where the mission is described in terms of trajectories and waypoints, and the mission level where the mission is described in terms of goals. In this paper, we focus on the latter, which implies to solve the automated mission planning problem for a fleet of MAV. We first present a formal model for this problem inspired by the MAV06, EMAV2006 and MAV07 contests, then we propose two different approaches to solve it. The first one is based on dynamic programming and computes a policy which gives the action to take for each state, regardless of prior history and taking the uncertainties into account, whereas the second one is a real-time planning and replanning algorithm based on the A* algorithm.
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Pierre-Selim Huard, Nicolas Barnier, Cédric Pralet. Automated mission planning for a fleet of micro air vehicules. MAV & EMAV 2007, 3rd US-European Competition and Workshop on Micro Air Vehicles and 7th European Micro Air Vehicles Conference and Flight Competition, Sep 2007, Toulouse, France. pp xxxx. ⟨hal-00938174⟩

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