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Proceedings Article

Mission modeling, planning, and execution module for teams of unmanned vehicles

[+] Author Affiliations
Jean-Pierre de la Croix, Grace Lim, Joshua Vander Hook, Amir Rahmani

Jet Propulsion Lab. (United States)

Greg Droge, Alexander Xydes, Chris Scrapper

SPAWAR Systems Ctr. Pacific (United States)

Proc. SPIE 10195, Unmanned Systems Technology XIX, 101950J (May 5, 2017); doi:10.1117/12.2266881
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From Conference Volume 10195

  • Unmanned Systems Technology XIX
  • Robert E. Karlsen; Douglas W. Gage; Charles M. Shoemaker; Hoa G. Nguyen
  • Anaheim, California, United States | April 09, 2017

abstract

Mission Modeling, Planning, and Execution Module (M2PEM) is a user friendly graphical framework for mission design and execution. It extends a subset of the Business Process Modeling and Notation (BPMN) 2.0 for robotic applications. Hierarchical abstractions fundamental to BPMN allow the mission to be naturally decomposed into interdependent parallel sequences of BPMN elements. M2PEM adapts these elements in a role based framework which uses collaborative control modalities as an atomic building block. Designed missions are able to consider situational data, external stimuli, and direct user interaction. Missions are directly executable using a resource manager and a ROS-based execution engine. © (2017) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Citation

Jean-Pierre de la Croix ; Grace Lim ; Joshua Vander Hook ; Amir Rahmani ; Greg Droge, et al.
" Mission modeling, planning, and execution module for teams of unmanned vehicles ", Proc. SPIE 10195, Unmanned Systems Technology XIX, 101950J (May 5, 2017); doi:10.1117/12.2266881; http://dx.doi.org/10.1117/12.2266881


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