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Drones, Volume 6, Issue 12
December 2022 - 61 articles
Cover Story: Drones for planetary exploration missions require increased onboard mission-planning abilities to access their full operational potential in remote environments (e.g., Antarctica, Mars, or Titan). Limitations in available sensors and environmental uncertainty present challenges for planning such missions. We used partially observable Markov decision processes (POMDPs) to formulate mission planning with uncertainty. Our UAV4PE framework for autonomous mission planning uses Python, C++, ROS, PX4, and JuliaPOMDP to plan and execute planetary missions in simulation, emulation, and real-world experiments. The source code and the experiment data are included in the UAV4PE framework. View this paper
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Drones - ISSN 2504-446X