Autonomous unmanned aerial systems (UAS) could supplement and eventually subsume a substantial portion of the mission set currently executed by remote pilots, making UAS more robust, responsive, and numerous than can be achieved by teleoperation alone. Unfortunately, the development of robust autonomous systems is difficult, costly, and time-consuming. Furthermore, the resulting systems often make little reuse of proven software components and offer limited adaptability for new tasks. This work presents a development platform for UAS which promotes behavioral flexibility. The platform incorporates the unified behavior framework (a modular, extensible autonomy framework), the robotic operating system (a robotic software framework), and PX4 (an open-source flight controller). Simulation of UBF agents identify a combination of reactive robotic control strategies effective for small-scale navigation tasks by a UAS in the presence of obstacles. Finally, flight tests provide a partial validation of the simulated results. The development platform presented in this work offers robust and responsive behavioral flexibility for UAS agents in simulation and reality using a methodology originally proven on ground robots.

中文翻译：

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自主无人机系统中行为灵活性的开发平台

自主的无人机系统（UAS）可以补充并最终包含远程飞行员当前执行的任务集的很大一部分，从而使UAS比仅通过远程操作就能实现的更强大，响应更快且数量更多。不幸的是，强大的自治系统的开发是困难，昂贵和费时的。此外，生成的系统通常很少重复使用经过验证的软件组件，并且对新任务的适应性有限。这项工作为UAS提供了一个开发平台，可促进行为灵活性。该平台包含统一的行为框架（模块化，可扩展的自治框架），机器人操作系统（机器人软件框架）和PX4（开源飞行控制器）。UBF代理程序的仿真确定了反应式机器人控制策略的组合，该策略可在有障碍物的情况下通过UAS对小型导航任务有效。最后，飞行测试提供了对模拟结果的部分验证。本文中使用的开发平台使用最初在地面机器人上证明的方法，为UAS代理在仿真和现实中提供了强大的响应行为灵活性。