A Distributed Architecture for Autonomous Unmanned Aerial Vehicle Experimentation

  • P. Doherty
  • P. Haslum
  • F. Heintz
  • T. Merz
  • P. Nyblom
  • T. Persson
  • B. Wingman


The emerging area of intelligent unmanned aerial vehicle (UAV) research has shown rapid development in recent years and offers a great number of research challenges for distributed autonomous robotics systems. In this article, a prototype distributed architecture for autonomous unmanned aerial vehicle experimentation is presented which supports the development of intelligent capabilities and their integration in a robust, scalable, plug-and-play hardware/software architecture. The architecture itself uses CORBA to support its infrastructure and it is based on a reactive concentric software control philosophy. A research prototype UAV system has been built, is operational and is being tested in actual missions over urban environments.


Unmanned Aerial Vehicle Software Architecture Finite State Machine Path Planner Flight Mode 


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Copyright information

© Springer 2007

Authors and Affiliations

  • P. Doherty
    • 1
  • P. Haslum
    • 1
  • F. Heintz
    • 1
  • T. Merz
    • 1
  • P. Nyblom
    • 1
  • T. Persson
    • 1
  • B. Wingman
    • 1
  1. 1.Dept. of Computer and Information ScienceLinköping UniversityLinköpingSweden

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