Paper presentation

1. A proposal of methodology for
multi-UAV mission modeling
MED 2015: 23rd Mediterranean Conference on Control and Automation
Torremolinos, June 16-19, 2015
Juan Jesús Roldán, Jaime del Cerro and Antonio Barrientos

2. 1
1) Introduction.
2) Mission architecture.
3) Basic tasks.
4) Modeling techniques.
5) Conclusions.

3. 1) Introduction.
2) Mission architecture.
3) Basic tasks.
4) Modeling techniques.
5) Conclusions.

4. 2
Single UAV mission Multi-UAV mission
Requirements:
- To increase the autonomy of fleets.
- To reduce the operator workload.
- To transfer functions from operator to interface.
- To select the information that is shown by interface.
Mission modeling

5. 1) Introduction.
2) Mission architecture.
3) Basic tasks.
4) Modeling techniques.
5)Conclusions.

6. 3
Based on…
Complex systems: A set of
resources is assigned to
different tasks in order to
achieve a set of objectives.
Perspectives:
Mission
Based on…
Robot missions: The robots
perform a series of tasks
that consist of sequences
of actions.
Task
Combination

7. 4
Mission
Resources
Objectives
An element available for achieving an objective or
performing a task.
Examples: UAV, camera, tank, firefighter…
Mission perspective:
Task
A result that must be achieved for completion of
mission.
Examples: Fire surveillance, Fire extinguishing.
A set of actions
performed by a resource
to achieve an objective.
Examples: Fire
monitoring, Fire
extinguishing, Firefighter
support.

8. 5
Task perspective:
Task
Transition
State
A change between two states when some
conditions are fulfilled.
Examples: Waypoint is reached, tank is
empty…
A situation of the task that has some actions
and observations.
Examples: Take-off, fly to fire, land…
Observation
Action
An information related
to the UAVs and their
payloads that
determines the state.
Examples: Location,
altitude, tank level…
A maneuver of an UAV
or an utilization of a
payload.
Examples: Go to
waypoint, Take picture,
Charge water, Discharge
water.

9. 6
Case of use: Fire control
Objectives:
- Fire control.
- Fire extinguishing.
- Rescue of victims.
- Search for suspects.
Resources:
- UAVs:
- Generic UAV. x3
- Extinguishing UAV. x1
- Transport UAV. x1
- Payloads:
- Generic camera. x4
- Thermal camera. x2
Tasks:
- Fire surveillance.
- Fire risk mapping.
- Fire monitoring.
- Fire extinguishing.
- Firefighters support.
- Rescue of victims.
- Search for suspects.

10. 1) Introduction.
2) Mission architecture.
3) Basic tasks.
4) Modeling techniques.
5)Conclusions.

11. 7
Task Description Input Output
Surveillance Fly over area to detect targets. Area / Target Targets
Mapping Fly over area to build map. Area Map
Reconnaissance Fly to points to check target. Points / Target Targets
Monitoring Fly to points to supervise other tasks. Points Information
Tracking Follow a mobile target. Target Information
Capture Fly to location and pick a resource. Resource Result
Release Fly to location and place a resource. Objective Result
Support Fly to points to help other agents. Agent Information
Refueling Air-to-air refueling or maintenance. Resource Result
Relay Maintain the communications. Resource Result

12. 8
Case of use: Fire control
Task of mission Basic tasks
Fire surveillance Surveillance
Fire risk mapping Mapping
Fire monitoring Monitoring
Fire extinguishing Capture + Release
Firefighters support Support
Rescue of victims Capture + Release
Search for suspects Surveillance
Auxiliary Refueling
Auxiliary Relay

13. 1) Introduction.
2) Mission architecture.
3) Basic tasks.
4) Modeling techniques.
5)Conclusions.

14. 9
SM
ABM
TM
PN
HMM
BPMN
Multiple
agents
Complex
tasks
Concurrency Uncertainty
Agent-Based Model
Business Process Model and Notation
Hidden Markov Model
Petri Net
State Machine
Tree Model
SM
ABM
TM
PN
HMM
BPMN

15. 10
Case of use: Fire control
Begin FinishCapture Release
Emergency
Scheme of fire extinguishing task

16. 11
Case of use: Fire control
Petri net for capture task
Hidden Markov model for release task

17. 1) Introduction.
2) Mission architecture.
3) Basic tasks.
4) Modeling techniques.
5)Conclusions.

18. 12
Conclusions:
- A mission model is required for reducing the operator workload.
- A proposal of methodology for mission modeling is presented.
- A series of basic tasks are identified in multi-UAV scenarios.
- Six modeling techniques are studied and Petri nets and hidden Markov
models are preselected.
Future works:
- To select a modeling technique: PN, HMM or combination.
- To study modeling procedures based on experience.

19. A proposal of methodology for multi-UAV mission modeling
MED 2015: 23rd Mediterranean Conference on Control and Automation
Torremolinos, June 16-19, 2015
Juan Jesús Roldán, Jaime del Cerro and Antonio Barrientos
Thank you!
Questions?