TML: a language to specify aerial robotic missions for the framework Aerostack
Purpose The purpose of this paper is to describe the specification language TML for adaptive mission plans that the authors designed and implemented for the open-source framework Aerostack for aerial robotics. Design/methodology/approach The TML language combines a task-based hierarchical approach t...
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Veröffentlicht in: | International journal of intelligent computing and cybernetics 2017-11, Vol.10 (4), p.491-512 |
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creator | Molina, Martin Suarez-Fernandez, Ramon A Sampedro, Carlos Sanchez-Lopez, Jose Luis Campoy, Pascual |
description | Purpose
The purpose of this paper is to describe the specification language TML for adaptive mission plans that the authors designed and implemented for the open-source framework Aerostack for aerial robotics.
Design/methodology/approach
The TML language combines a task-based hierarchical approach together with a more flexible representation, rule-based reactive planning, to facilitate adaptability. This approach includes additional notions that abstract programming details. The authors built an interpreter integrated in the software framework Aerostack. The interpreter was validated with flight experiments for multi-robot missions in dynamic environments.
Findings
The experiments proved that the TML language is easy to use and expressive enough to formulate adaptive missions in dynamic environments. The experiments also showed that the TML interpreter is efficient to execute multi-robot aerial missions and reusable for different platforms. The TML interpreter is able to verify the mission plan before its execution, which increases robustness and safety, avoiding the execution of certain plans that are not feasible.
Originality/value
One of the main contributions of this work is the availability of a reliable solution to specify aerial mission plans, integrated in an active open-source project with periodic releases. To the best knowledge of the authors, there are not solutions similar to this in other active open-source projects. As additional contributions, TML uses an original combination of representations for adaptive mission plans (i.e. task trees with original abstract notions and rule-based reactive planning) together with the demonstration of its adequacy for aerial robotics. |
doi_str_mv | 10.1108/IJICC-03-2017-0025 |
format | Article |
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The purpose of this paper is to describe the specification language TML for adaptive mission plans that the authors designed and implemented for the open-source framework Aerostack for aerial robotics.
Design/methodology/approach
The TML language combines a task-based hierarchical approach together with a more flexible representation, rule-based reactive planning, to facilitate adaptability. This approach includes additional notions that abstract programming details. The authors built an interpreter integrated in the software framework Aerostack. The interpreter was validated with flight experiments for multi-robot missions in dynamic environments.
Findings
The experiments proved that the TML language is easy to use and expressive enough to formulate adaptive missions in dynamic environments. The experiments also showed that the TML interpreter is efficient to execute multi-robot aerial missions and reusable for different platforms. The TML interpreter is able to verify the mission plan before its execution, which increases robustness and safety, avoiding the execution of certain plans that are not feasible.
Originality/value
One of the main contributions of this work is the availability of a reliable solution to specify aerial mission plans, integrated in an active open-source project with periodic releases. To the best knowledge of the authors, there are not solutions similar to this in other active open-source projects. As additional contributions, TML uses an original combination of representations for adaptive mission plans (i.e. task trees with original abstract notions and rule-based reactive planning) together with the demonstration of its adequacy for aerial robotics.</description><identifier>ISSN: 1756-378X</identifier><identifier>EISSN: 1756-3798</identifier><identifier>DOI: 10.1108/IJICC-03-2017-0025</identifier><language>eng</language><publisher>Bingley: Emerald Publishing Limited</publisher><subject>Adequacy ; Algorithms ; Language ; Missions ; Multiple robots ; Open source software ; Planning ; Representations ; Robotics ; Robots ; Source code ; Specification and description languages</subject><ispartof>International journal of intelligent computing and cybernetics, 2017-11, Vol.10 (4), p.491-512</ispartof><rights>Emerald Publishing Limited</rights><rights>Emerald Publishing Limited 2017</rights><lds50>peer_reviewed</lds50><oa>free_for_read</oa><woscitedreferencessubscribed>false</woscitedreferencessubscribed><citedby>FETCH-LOGICAL-c361t-ff15f5bc1ead916ca342f58d4d45b21c1a5f7064d87e5ed574c9248e6a67e2093</citedby><cites>FETCH-LOGICAL-c361t-ff15f5bc1ead916ca342f58d4d45b21c1a5f7064d87e5ed574c9248e6a67e2093</cites></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://www.emerald.com/insight/content/doi/10.1108/IJICC-03-2017-0025/full/html$$EHTML$$P50$$Gemerald$$H</linktohtml><link.rule.ids>314,780,784,967,11634,21694,27923,27924,52688,53243</link.rule.ids></links><search><creatorcontrib>Molina, Martin</creatorcontrib><creatorcontrib>Suarez-Fernandez, Ramon A</creatorcontrib><creatorcontrib>Sampedro, Carlos</creatorcontrib><creatorcontrib>Sanchez-Lopez, Jose Luis</creatorcontrib><creatorcontrib>Campoy, Pascual</creatorcontrib><title>TML: a language to specify aerial robotic missions for the framework Aerostack</title><title>International journal of intelligent computing and cybernetics</title><description>Purpose
The purpose of this paper is to describe the specification language TML for adaptive mission plans that the authors designed and implemented for the open-source framework Aerostack for aerial robotics.
Design/methodology/approach
The TML language combines a task-based hierarchical approach together with a more flexible representation, rule-based reactive planning, to facilitate adaptability. This approach includes additional notions that abstract programming details. The authors built an interpreter integrated in the software framework Aerostack. The interpreter was validated with flight experiments for multi-robot missions in dynamic environments.
Findings
The experiments proved that the TML language is easy to use and expressive enough to formulate adaptive missions in dynamic environments. The experiments also showed that the TML interpreter is efficient to execute multi-robot aerial missions and reusable for different platforms. The TML interpreter is able to verify the mission plan before its execution, which increases robustness and safety, avoiding the execution of certain plans that are not feasible.
Originality/value
One of the main contributions of this work is the availability of a reliable solution to specify aerial mission plans, integrated in an active open-source project with periodic releases. To the best knowledge of the authors, there are not solutions similar to this in other active open-source projects. As additional contributions, TML uses an original combination of representations for adaptive mission plans (i.e. task trees with original abstract notions and rule-based reactive planning) together with the demonstration of its adequacy for aerial robotics.</description><subject>Adequacy</subject><subject>Algorithms</subject><subject>Language</subject><subject>Missions</subject><subject>Multiple robots</subject><subject>Open source software</subject><subject>Planning</subject><subject>Representations</subject><subject>Robotics</subject><subject>Robots</subject><subject>Source code</subject><subject>Specification and description languages</subject><issn>1756-378X</issn><issn>1756-3798</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2017</creationdate><recordtype>article</recordtype><sourceid>AFKRA</sourceid><sourceid>AZQEC</sourceid><sourceid>BENPR</sourceid><sourceid>CCPQU</sourceid><sourceid>DWQXO</sourceid><sourceid>GNUQQ</sourceid><recordid>eNptkE1LAzEQhoMoWKt_wFPAczSfu1lvZdFaqXqp4C2k2UnddrepyRbpv3drRRA8vXN4n5nhQeiS0WvGqL6ZPE7KklBBOGU5oZSrIzRgucqIyAt9_Dvrt1N0ltKS0kwrLQboefY0vcUWN3a92NoF4C7gtAFX-x22EGvb4BjmoasdbuuU6rBO2IeIu3fAPtoWPkNc4RHEkDrrVufoxNsmwcVPDtHr_d2sfCDTl_GkHE2JExnriPdMeTV3DGxVsMxZIblXupKVVHPOHLPK5zSTlc5BQaVy6QouNWQ2y4HTQgzR1WHvJoaPLaTOLMM2rvuThvdCqNR99C1-aLn-vRTBm02sWxt3hlGz92a-vRkqzN6b2XvrIXaAoIVom-p_5o9r8QUmwG7X</recordid><startdate>20171113</startdate><enddate>20171113</enddate><creator>Molina, Martin</creator><creator>Suarez-Fernandez, Ramon A</creator><creator>Sampedro, Carlos</creator><creator>Sanchez-Lopez, Jose Luis</creator><creator>Campoy, Pascual</creator><general>Emerald Publishing Limited</general><general>Emerald Group Publishing Limited</general><scope>AAYXX</scope><scope>CITATION</scope><scope>0U~</scope><scope>1-H</scope><scope>7SC</scope><scope>7WY</scope><scope>7WZ</scope><scope>7XB</scope><scope>8FD</scope><scope>8FE</scope><scope>8FG</scope><scope>AFKRA</scope><scope>ARAPS</scope><scope>AZQEC</scope><scope>BENPR</scope><scope>BEZIV</scope><scope>BGLVJ</scope><scope>CCPQU</scope><scope>DWQXO</scope><scope>F~G</scope><scope>GNUQQ</scope><scope>HCIFZ</scope><scope>JQ2</scope><scope>K6~</scope><scope>K7-</scope><scope>L.-</scope><scope>L.0</scope><scope>L7M</scope><scope>L~C</scope><scope>L~D</scope><scope>M0C</scope><scope>M0N</scope><scope>M2P</scope><scope>P5Z</scope><scope>P62</scope><scope>PQBIZ</scope><scope>PQEST</scope><scope>PQQKQ</scope><scope>PQUKI</scope><scope>PYYUZ</scope><scope>Q9U</scope></search><sort><creationdate>20171113</creationdate><title>TML: a language to specify aerial robotic missions for the framework Aerostack</title><author>Molina, Martin ; Suarez-Fernandez, Ramon A ; Sampedro, Carlos ; Sanchez-Lopez, Jose Luis ; Campoy, Pascual</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c361t-ff15f5bc1ead916ca342f58d4d45b21c1a5f7064d87e5ed574c9248e6a67e2093</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2017</creationdate><topic>Adequacy</topic><topic>Algorithms</topic><topic>Language</topic><topic>Missions</topic><topic>Multiple robots</topic><topic>Open source software</topic><topic>Planning</topic><topic>Representations</topic><topic>Robotics</topic><topic>Robots</topic><topic>Source code</topic><topic>Specification and description languages</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Molina, Martin</creatorcontrib><creatorcontrib>Suarez-Fernandez, Ramon A</creatorcontrib><creatorcontrib>Sampedro, Carlos</creatorcontrib><creatorcontrib>Sanchez-Lopez, Jose Luis</creatorcontrib><creatorcontrib>Campoy, Pascual</creatorcontrib><collection>CrossRef</collection><collection>Global News & ABI/Inform Professional</collection><collection>Trade PRO</collection><collection>Computer and Information Systems Abstracts</collection><collection>ABI/INFORM Collection</collection><collection>ABI/INFORM Global (PDF only)</collection><collection>ProQuest Central (purchase pre-March 2016)</collection><collection>Technology Research Database</collection><collection>ProQuest SciTech Collection</collection><collection>ProQuest Technology Collection</collection><collection>ProQuest Central UK/Ireland</collection><collection>Advanced Technologies & Aerospace Collection</collection><collection>ProQuest Central Essentials</collection><collection>ProQuest Central</collection><collection>Business Premium Collection</collection><collection>Technology Collection</collection><collection>ProQuest One Community College</collection><collection>ProQuest Central Korea</collection><collection>ABI/INFORM Global (Corporate)</collection><collection>ProQuest Central Student</collection><collection>SciTech Premium Collection</collection><collection>ProQuest Computer Science Collection</collection><collection>ProQuest Business Collection</collection><collection>Computer Science Database</collection><collection>ABI/INFORM Professional Advanced</collection><collection>ABI/INFORM Professional Standard</collection><collection>Advanced Technologies Database with Aerospace</collection><collection>Computer and Information Systems Abstracts Academic</collection><collection>Computer and Information Systems Abstracts Professional</collection><collection>ABI/INFORM Global</collection><collection>Computing Database</collection><collection>Science Database</collection><collection>Advanced Technologies & Aerospace Database</collection><collection>ProQuest Advanced Technologies & Aerospace Collection</collection><collection>ProQuest One Business</collection><collection>ProQuest One Academic Eastern Edition (DO NOT USE)</collection><collection>ProQuest One Academic</collection><collection>ProQuest One Academic UKI Edition</collection><collection>ABI/INFORM Collection China</collection><collection>ProQuest Central Basic</collection><jtitle>International journal of intelligent computing and cybernetics</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext</fulltext></delivery><addata><au>Molina, Martin</au><au>Suarez-Fernandez, Ramon A</au><au>Sampedro, Carlos</au><au>Sanchez-Lopez, Jose Luis</au><au>Campoy, Pascual</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>TML: a language to specify aerial robotic missions for the framework Aerostack</atitle><jtitle>International journal of intelligent computing and cybernetics</jtitle><date>2017-11-13</date><risdate>2017</risdate><volume>10</volume><issue>4</issue><spage>491</spage><epage>512</epage><pages>491-512</pages><issn>1756-378X</issn><eissn>1756-3798</eissn><abstract>Purpose
The purpose of this paper is to describe the specification language TML for adaptive mission plans that the authors designed and implemented for the open-source framework Aerostack for aerial robotics.
Design/methodology/approach
The TML language combines a task-based hierarchical approach together with a more flexible representation, rule-based reactive planning, to facilitate adaptability. This approach includes additional notions that abstract programming details. The authors built an interpreter integrated in the software framework Aerostack. The interpreter was validated with flight experiments for multi-robot missions in dynamic environments.
Findings
The experiments proved that the TML language is easy to use and expressive enough to formulate adaptive missions in dynamic environments. The experiments also showed that the TML interpreter is efficient to execute multi-robot aerial missions and reusable for different platforms. The TML interpreter is able to verify the mission plan before its execution, which increases robustness and safety, avoiding the execution of certain plans that are not feasible.
Originality/value
One of the main contributions of this work is the availability of a reliable solution to specify aerial mission plans, integrated in an active open-source project with periodic releases. To the best knowledge of the authors, there are not solutions similar to this in other active open-source projects. As additional contributions, TML uses an original combination of representations for adaptive mission plans (i.e. task trees with original abstract notions and rule-based reactive planning) together with the demonstration of its adequacy for aerial robotics.</abstract><cop>Bingley</cop><pub>Emerald Publishing Limited</pub><doi>10.1108/IJICC-03-2017-0025</doi><tpages>22</tpages><oa>free_for_read</oa></addata></record> |
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subjects | Adequacy Algorithms Language Missions Multiple robots Open source software Planning Representations Robotics Robots Source code Specification and description languages |
title | TML: a language to specify aerial robotic missions for the framework Aerostack |
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