A Control Software Architecture for autonomous unmanned vehicles inspired in generic components

CAVIS: a Control software Architecture for cooperative multi-unmanned aerial VehIcle-manipulator Systems

“…Several efforts have been spent on the design and the development of software/hardware platforms that support MRS in cooperative tasks. The main objective was to build Control Software Architecture (CSA) that handle the complexity and the heterogeneity of such systems (Gancet et al, 2005;Ortiz et al, 2011). Consequently, some research works suggested many features that must be considered at the design phase, such as: Modularity, Integration and Reusability (Oreback and Christensen, 2003).…”

“…Although the large number of CSA for MRS, only few of them treat the multi-UAV system such as Ortiz et al (2011), Shi and Yang (2008) and Gancet et al (2005). However, their works may not covers the wide range of these systems.…”