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A Constraint-based Flight Control System Architecture for UAVs using the iTaSC Framework

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Description

(Semi-) autonomous complex UAV missions, such as inspection or search-and-rescue in uncertain dynamic environments, require obstacle avoidance and operator shared control. Combining humans’ cognitive abilities with fast automation is the key for such missions.
This paper presents a flight control system architecture using the iTaSC methodology and software framework that allows flexible integration of various sensors and tasks such as obstacle avoidance, object tracking and shared control. This setup is experimentally validated by navigating a multirotor UAV safely through a GPS-denied corridor using (intuitive) shared control with a pilot. In addition to the pilot’s commands, automatic obstacle avoidance and object tracking are performed real-time through various onboard sensors and with limited onboard computational power.

Keywords: Human-robot Shared Control, Constraint-based Programming, Collision Avoidance, Reactive and Sensor-Based Planning, Aerial Robotics

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