Behavior Methods
This catalog shows the available behavior methods provided by Aerostack. Behaviors use algorithms for autonomous robots that are currently integrated as specialized software components in the public version of Aerostack. The corresponding link and/or bibliographic reference to their authors is explicitly indicated for some components.
You can consult the following link to know how to add your own behaviors:
| Behavior task | Behavior method | Reference |
|---|---|---|
| TAKE_OFF | TAKE_OFF | |
| LAND | LAND | |
| WAIT | WAIT | |
| SELF_LOCALIZE | SELF_LOCALIZE_WITH_GROUND_TRUTH | |
| SELF_LOCALIZE | SELF_LOCALIZE_WITH_EKF_SENSOR_FUSION | [Lynen et al. 2013] ETHZ MSF |
| ESTIMATE_POSITION | ESTIMATE_POSITION_WITH_SENSOR | |
| ESTIMATE_POSITION | ESTIMATE_POSITION_WITH_LINEAR_SPEED | |
| HOVER | HOVER_WITH_MPC_CONTROL | |
| HOVER | KEEP_HOVERING_WITH_PID_CONTROL | |
| HOVER | HOVER_WITH_FLIGHT_ACTION_CONTROL | |
| MOVE_VERTICAL | MOVE_VERTICAL_WITH_PLATFORM_CONTROL | |
| MOVE_AT_SPEED | KEEP_MOVING_WITH_PID_CONTROL | |
| MOVE_AT_SPEED | MOVE_AT_SPEED_WITH_PLATFORM_CONTROL | |
| ROTATE | ROTATE_WITH_MPC_CONTROL | |
| ROTATE | ROTATE_WITH_PID_CONTROL | |
| ROTATE | ROTATE_WITH_PLATFORM_CONTROL | |
| FOLLOW_PATH | FOLLOW_PATH | |
| FOLLOW_PATH | FOLLOW_PATH_WITH_MPC_CONTROL | |
| MPC_MOTION_CONTROL | QUADROTOR_MPC_MOTION_CONTROL | [Kamel et al. 2017] ETHZ MPC |
| PID_MOTION_CONTROL | QUADROTOR_PID_MOTION_CONTROL | [Pestana et al., 2014] |
| THRUST_CONTROL | QUADROTOR_PID_THRUST_CONTROL | |
| GENERATE_PATH | GENERATE_PATH_WITH_OCCUPANCY_GRID | [Marder-Eppstein et al. 2010] Navigation stack |
| CLEAR_OCCUPANCY_GRID | CLEAR_OCCUPANCY_GRID | |
| SAVE_OCCUPANCY_GRID | SAVE_OCCUPANCY_GRID | [Kohlbrecher et al. 2011] Hector SLAM |
| PAY_ATTENTION_TO_QR_CODES | PAY_ATTENTION_TO_QR_CODES | |
| PAY_ATTENTION_TO_ROBOT_MESSAGES | PAY_ATTENTION_TO_ROBOT_MESSAGES | |
| INFORM_ROBOTS | INFORM_ROBOTS | |
| INFORM_OPERATOR | INFORM_OPERATOR | |
| REQUEST_OPERATOR_ASSISTANCE | REQUEST_OPERATOR_ASSISTANCE |
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Kamel, M., Stastny, T., Alexis, K., & Siegwart, R. (2017). Model predictive control for trajectory tracking of unmanned aerial vehicles using robot operating system. In Robot operating system (ROS) (pp. 3-39). Springer, Cham.
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Lynen, S., Achtelik, M. W., Weiss, S., Chli, M., & Siegwart, R. (2013, November). A robust and modular multi-sensor fusion approach applied to mav navigation. In 2013 IEEE/RSJ international conference on intelligent robots and systems (pp. 3923-3929). IEEE.
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Marder-Eppstein, E., Berger, E., Foote, T., Gerkey, B., & Konolige, K. (2010, May). The office marathon: Robust navigation in an indoor office environment. In 2010 IEEE international conference on robotics and automation (pp. 300-307). IEEE.
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J. Pestana, I. Mellado-Bataller, C. Fu, J. L. Sanchez-Lopez, I. F. Mondragon, P. Campoy. A General Purpose Configurable Controller for Indoors and Outdoors GPS-Denied Navigation for Multirotor Unmanned Aerial Vehicles. Journal of Intelligent and Robotic Systems. Jan. 2014. Vol 73, Issue 1-4, pp. 387-400. Springer Netherlands. Print ISSN: 0921-0296. Online ISSN: 1573-0409. DOI: 10.1007/s10846-013-9953-0
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S. Kohlbrecher, J. Meyer, O. von Stryk, U. Klingauf (2011). A Flexible and Scalable SLAM System with Full 3D Motion Estimation. Proc. IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR).IEEE
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