An open control platform for reconfigurable, distributed, hierarchical control systems

Abstract

Complex control systems for autonomous vehicles require integrating new control algorithms with a variety of different component technologies and resources. These components are often supported on different types of hardware platforms and operating systems and often must interact in a distributed environment (e.g., in communication with a groundstation, mothership, or other UAVs in a swarm). At the same time, the configuration and integration of components must be flexible enough to allow rapid online reconfiguration and adaptation to react to environmental changes and respond to unpredictable events during flight, such as avoiding a moving obstacle or recovering from vehicle equipment failures. This paper describes an open software architecture, called the open control platform, for integrating control technologies and resources. The specific driving application is supporting autonomous control of VTOL uninhabited autonomous vehicles.