TY - JOUR
T1 - Mission Planning for Multiple Vehicles with Temporal Specifications using UxAS
AU - Nguyen, Luan V.
AU - Hoxha, Bardh
AU - Johnson, Taylor T.
AU - Fainekos, Georgios
N1 - Publisher Copyright:
© 2018
PY - 2018/1/1
Y1 - 2018/1/1
N2 - In this paper, we present extensions to Unmanned Systems Autonomy Services (UxAS) to handle mission specifications that require a synchronization of task execution. UxAS uses Process Algebra (PA) as a formal language to specify mission requirements for unmanned aerial vehicle (UAV) operations. However, the current implementation of PA in UxAS utilizes assigned semantics which does not guarantee the order of task completion and is unable to provide a mission planning required vehicle-synchronization. To enable the capability of UxAS in operating synchronized mission specifications, we introduce a notion of Synchronized Process Algebra (SPA) which extends PA by adding a synchronized composition operator to the syntax of PA. Such an operator allows us to specify the task's duration and enforce the next task is executed after the previous one has terminated. Moreover, we provide a new service in UxAS, called Temporal Service (TS) to control the flow of the planning process with respect to timing specifications. We apply SPA and TS to specify and operate the mission specification of a forest fire rescue scenario required the synchronized arrivals of multiple UAVs.
AB - In this paper, we present extensions to Unmanned Systems Autonomy Services (UxAS) to handle mission specifications that require a synchronization of task execution. UxAS uses Process Algebra (PA) as a formal language to specify mission requirements for unmanned aerial vehicle (UAV) operations. However, the current implementation of PA in UxAS utilizes assigned semantics which does not guarantee the order of task completion and is unable to provide a mission planning required vehicle-synchronization. To enable the capability of UxAS in operating synchronized mission specifications, we introduce a notion of Synchronized Process Algebra (SPA) which extends PA by adding a synchronized composition operator to the syntax of PA. Such an operator allows us to specify the task's duration and enforce the next task is executed after the previous one has terminated. Moreover, we provide a new service in UxAS, called Temporal Service (TS) to control the flow of the planning process with respect to timing specifications. We apply SPA and TS to specify and operate the mission specification of a forest fire rescue scenario required the synchronized arrivals of multiple UAVs.
KW - Formal Specifications
KW - Motion Planning
KW - Process Algebra
KW - UxAS
UR - http://www.scopus.com/inward/record.url?scp=85052659884&partnerID=8YFLogxK
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U2 - 10.1016/j.ifacol.2018.08.012
DO - 10.1016/j.ifacol.2018.08.012
M3 - Article
AN - SCOPUS:85052659884
SN - 2405-8963
VL - 51
SP - 67
EP - 72
JO - 6th IFAC Conference on Analysis and Design of Hybrid Systems ADHS 2018: Oxford, United Kingdom, 11—13 July 2018
JF - 6th IFAC Conference on Analysis and Design of Hybrid Systems ADHS 2018: Oxford, United Kingdom, 11—13 July 2018
IS - 16
ER -