A variety of open-source software tools are currently available to help building autonomous mobile robots. These tools have proven their effectiveness in developing different types of robotic systems, but there are still needs related to safety and efficiency that are not sufficiently covered. This article describes recent advances in the Aerostack software framework to address part of these needs, which may become critical in the case of aerial robots. The article describes a software tool that helps to develop the executive system, an important component of the control architecture whose characteristics significantly affect the quality of the final autonomous robotic system. The presented tool uses an original solution for execution control that aims at simplifying mission specification and protecting against errors, considering also the efficiency needs of aerial robots. The effectiveness of the tool was evaluated by building an experimental autonomous robot. The results of the evaluation show that it provides significant benefits about usability and reliability with acceptable development effort and computational cost. The tool is based on Robot Operating System and it is publicly available as part of the last release of the Aerostack software framework (version 3.0).

中文翻译：

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使用 Aerostack 开源框架构建自主空中机器人执行系统

目前有多种开源软件工具可用于帮助构建自主移动机器人。这些工具已经证明了它们在开发不同类型机器人系统方面的有效性，但仍然存在未充分涵盖的与安全性和效率相关的需求。本文介绍了 Aerostack 软件框架的最新进展，以满足部分这些需求，这在空中机器人的情况下可能变得至关重要。本文介绍了一种有助于开发执行系统的软件工具，该系统是控制架构的重要组成部分，其特性会显着影响最终自主机器人系统的质量。所提供的工具使用原始的执行控制解决方案，旨在简化任务规范并防止错误，还要考虑空中机器人的效率需求。通过构建实验性自主机器人来评估该工具的有效性。评估结果表明，它以可接受的开发工作量和计算成本提供了可用性和可靠性方面的显着优势。该工具基于机器人操作系统，作为 Aerostack 软件框架（3.0 版）最新版本的一部分公开提供。