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Proceedings Paper

Mission modeling, planning, and execution module for teams of unmanned vehicles
Author(s): Jean-Pierre de la Croix; Grace Lim; Joshua Vander Hook; Amir Rahmani; Greg Droge; Alexander Xydes; Chris Scrapper
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Paper Abstract

Mission Modeling, Planning, and Execution Module (M2PEM) is a user friendly graphical framework for mission design and execution. It extends a subset of the Business Process Modeling and Notation (BPMN) 2.0 for robotic applications. Hierarchical abstractions fundamental to BPMN allow the mission to be naturally decomposed into interdependent parallel sequences of BPMN elements. M2PEM adapts these elements in a role based framework which uses collaborative control modalities as an atomic building block. Designed missions are able to consider situational data, external stimuli, and direct user interaction. Missions are directly executable using a resource manager and a ROS-based execution engine.

Paper Details

Date Published: 5 May 2017
PDF: 13 pages
Proc. SPIE 10195, Unmanned Systems Technology XIX, 101950J (5 May 2017); doi: 10.1117/12.2266881
Show Author Affiliations
Jean-Pierre de la Croix, Jet Propulsion Lab. (United States)
Grace Lim, Jet Propulsion Lab. (United States)
Joshua Vander Hook, Jet Propulsion Lab. (United States)
Amir Rahmani, Jet Propulsion Lab. (United States)
Greg Droge, SPAWAR Systems Ctr. Pacific (United States)
Alexander Xydes, SPAWAR Systems Ctr. Pacific (United States)
Chris Scrapper, SPAWAR Systems Ctr. Pacific (United States)

Published in SPIE Proceedings Vol. 10195:
Unmanned Systems Technology XIX
Robert E. Karlsen; Douglas W. Gage; Charles M. Shoemaker; Hoa G. Nguyen, Editor(s)

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