Article | Proceedings of the 10<sup>th</sup> International Modelica Conference; March 10-12; 2014; Lund; Sweden | The Modelica BehaviorTrees Library: Mission Planning in Continuous-Time for Unmanned Aircraft
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Title:
The Modelica BehaviorTrees Library: Mission Planning in Continuous-Time for Unmanned Aircraft
Author:
Andreas Klöckner: German Aerospace Center (DLR), Institute of System Dynamics and Control, We√üling, Germany
DOI:
10.3384/ecp14096727
Download:
Full text (pdf)
Year:
2014
Conference:
Proceedings of the 10th International Modelica Conference; March 10-12; 2014; Lund; Sweden
Issue:
096
Article no.:
076
Pages:
727-736
No. of pages:
10
Publication type:
Abstract and Fulltext
Published:
2014-03-10
ISBN:
978-91-7519-380-9
Series:
Linköping Electronic Conference Proceedings
ISSN (print):
1650-3686
ISSN (online):
1650-3740
Publisher:
Linköping University Electronic Press; Linköpings universitet


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The paper introduces a continuous-time architecture and a Modelica library for mission planning based on behavior trees. It allows to study the long-time behavior of complex aircraft models in interaction with reactive mission plans by means of efficient simulations. The developed Modelica library is used in a mission example for a solar high-altitude aircraft and the advantages of the behavior tree formulation in both simulation speed and modularity are discussed. The architecture will further be used to deploy automatically coded mission plans to actual flight computers using the functional mockup interface.

Keywords: UAV; Mission Management; Behavior Trees; Autonomy; Artificial Intelligence

Proceedings of the 10th International Modelica Conference; March 10-12; 2014; Lund; Sweden

Author:
Andreas Klöckner
Title:
The Modelica BehaviorTrees Library: Mission Planning in Continuous-Time for Unmanned Aircraft
DOI:
http://dx.doi.org/10.3384/ecp14096727
References:

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[2] Maximilian Laiacker, Andreas Kl√∂ckner, Konstantin Kondak, Marc Schwarzbach, Gertjan Looye, Dominik Sommer, and Ingo Kossyk. Modular scalable system for operation and testing of UAVs. In American Control Conference, pages 1462‚Äď1467, Washington, DC, 17-19 June 2013. IEEE. ISBN: 978-1-4799-0176-0.


[3] Petter √Ėgren. Increasing Modularity of UAV Control Systems using Computer Game Behavior Trees. In AIAA Guidance, Navigation and Control Conference, Minneapolis, Minnesota, 13 - 16 August 2012. AIAA. AIAA 2012-4458.


[4] Alex J. Champandard. Behavior Trees for Next-Gen Game AI. In Game Developers Conference, Lyon, France, 3-4 Decembre 2007.


[5] Martin Otter, Martin Malmheden, Hilding Elmqvist, Sven Erik Mattson, and Charlotta Johnsson. A new formalism for modeling of reactive and hybrid systems. In Proceedings of the 7th International Modelica Conference, pages 364‚Äď377. Link√∂ping University Electronic Press, 2009.


[6] Damian Isla. Handling complexity in the Halo 2 AI. In Game Developers Conference, 2005.


[7] Ian Millington and John Funge. Artificial intelligence for games. Morgan Kaufmann, Burlington, MA, 2nd edition, 2009. ISBN: 978-0123747310.


[8] Andreas Kl√∂ckner. Behavior Trees for UAV Mission Management. In Matthias Horbach, editor, INFORMATIK 2013: Informatik angepasst an Mensch, Organisation und Umwelt, volume P-220 of GI-Edition-Lecture Notes in Informatics (LNI) - Proceedings, pages 57‚Äď68, Koblenz, Germany, 16-20 September 2013. Gesellschaft f√ľr Informatik e.V. (GI), K√∂llen Druck + Verlag GmbH, Bonn. ISBN 978-3-88579-614-5.


[9] Andreas Klöckner. Interfacing Behavior Trees with the World Using Description Logic. In AIAA Guidance, Navigation, and Control Conference, Boston, MA, 19- 22 August 2013. AIAA. AIAA 2013-4636. ISBN 978-1-62410-224-0.

Proceedings of the 10th International Modelica Conference; March 10-12; 2014; Lund; Sweden

Author:
Andreas Klöckner
Title:
The Modelica BehaviorTrees Library: Mission Planning in Continuous-Time for Unmanned Aircraft
DOI:
http://dx.doi.org/10.3384/ecp14096727
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