Multidrone Mission Execution With EAMOS: From Text to Mission
Existing software tools for specifying and executing multidrone missions are limited to route planning or tightly coupled to specific drone hardware. We introduce EAMOS (Execution of Aerial Multidrone Missions and Operations Specification Framework), which allows us to specify missions intuitively,...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
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IEEE
2023-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/10309951/ |
| _version_ | 1827762447875833856 |
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| author | Markus Gutmann Bernhard Rinner |
| author_facet | Markus Gutmann Bernhard Rinner |
| author_sort | Markus Gutmann |
| collection | DOAJ |
| description | Existing software tools for specifying and executing multidrone missions are limited to route planning or tightly coupled to specific drone hardware. We introduce EAMOS (Execution of Aerial Multidrone Missions and Operations Specification Framework), which allows us to specify missions intuitively, text-based, and provides a mission compiler, a mission middle layer, and a distributed drone execution environment. The middle layer wraps the control of individual drone-specific capabilities, such as launch, fly to position, or perform a maneuver, into a public API that transparently utilizes the capabilities of numerous drone platforms. We exploit the Go programming language to implement critical components of the framework and provide an interface for ROS-based drone platforms. EAMOS automates the mission execution on real, virtual, and even hybrid robotic setups involving real and virtual drones. We demonstrate the successful deployment of EAMOS with four missions executed on Pixhawk/PX4-equipped quadcopters and virtual drones simulated with Airsim. We assess the performance of our proposed approach by analyzing the number of nodes and arcs of the mission graphs, which are an essential artifact of our mission compilation, the utilization of ROS service calls during mission execution, and the duration of compilation, deployment, and mission execution. Overall, our experiments showed that our drones correctly behaved during mission execution as expected and specified by their mission, the generated mission artifacts were efficiently manageable, and processing times allowed for a fluent workflow. |
| first_indexed | 2024-03-11T10:30:50Z |
| format | Article |
| id | doaj.art-91752a2b0a0f477392f95d19ad617a2d |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-03-11T10:30:50Z |
| publishDate | 2023-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-91752a2b0a0f477392f95d19ad617a2d2023-11-15T00:00:59ZengIEEEIEEE Access2169-35362023-01-011112546012549110.1109/ACCESS.2023.333065210309951Multidrone Mission Execution With EAMOS: From Text to MissionMarkus Gutmann0https://orcid.org/0009-0003-8212-679XBernhard Rinner1https://orcid.org/0000-0002-8793-3828Institute of Networked and Embedded Systems, University of Klagenfurt, Klagenfurt, AustriaInstitute of Networked and Embedded Systems, University of Klagenfurt, Klagenfurt, AustriaExisting software tools for specifying and executing multidrone missions are limited to route planning or tightly coupled to specific drone hardware. We introduce EAMOS (Execution of Aerial Multidrone Missions and Operations Specification Framework), which allows us to specify missions intuitively, text-based, and provides a mission compiler, a mission middle layer, and a distributed drone execution environment. The middle layer wraps the control of individual drone-specific capabilities, such as launch, fly to position, or perform a maneuver, into a public API that transparently utilizes the capabilities of numerous drone platforms. We exploit the Go programming language to implement critical components of the framework and provide an interface for ROS-based drone platforms. EAMOS automates the mission execution on real, virtual, and even hybrid robotic setups involving real and virtual drones. We demonstrate the successful deployment of EAMOS with four missions executed on Pixhawk/PX4-equipped quadcopters and virtual drones simulated with Airsim. We assess the performance of our proposed approach by analyzing the number of nodes and arcs of the mission graphs, which are an essential artifact of our mission compilation, the utilization of ROS service calls during mission execution, and the duration of compilation, deployment, and mission execution. Overall, our experiments showed that our drones correctly behaved during mission execution as expected and specified by their mission, the generated mission artifacts were efficiently manageable, and processing times allowed for a fluent workflow.https://ieeexplore.ieee.org/document/10309951/Multi-robot missionssoftware frameworkmission executiondronesROSAirsim |
| spellingShingle | Markus Gutmann Bernhard Rinner Multidrone Mission Execution With EAMOS: From Text to Mission IEEE Access Multi-robot missions software framework mission execution drones ROS Airsim |
| title | Multidrone Mission Execution With EAMOS: From Text to Mission |
| title_full | Multidrone Mission Execution With EAMOS: From Text to Mission |
| title_fullStr | Multidrone Mission Execution With EAMOS: From Text to Mission |
| title_full_unstemmed | Multidrone Mission Execution With EAMOS: From Text to Mission |
| title_short | Multidrone Mission Execution With EAMOS: From Text to Mission |
| title_sort | multidrone mission execution with eamos from text to mission |
| topic | Multi-robot missions software framework mission execution drones ROS Airsim |
| url | https://ieeexplore.ieee.org/document/10309951/ |
| work_keys_str_mv | AT markusgutmann multidronemissionexecutionwitheamosfromtexttomission AT bernhardrinner multidronemissionexecutionwitheamosfromtexttomission |