Dynamic Replanning of Multi-drone Missions using Dynamic Forward Slicing
summary
Proposes using a dynamic forward slice to generate a new DOTS program at runtime so the existing planner is reused instead of restarting missions; implemented slicing rules for action calls (e.g., keep remaining waypoints for straight and remove passed vertices for patrol), sequential/parallel coordination and transformed for‑loops into concrete per‑drone sequences. Safety preserved by placing executed nodes in a prioritizer statement before remaining parallel tasks. Validated in simulation and integrated into a service‑oriented UAS architecture to handle emergency airspace updates without mission restart.
AI-written summary · about
chapters (8)
- 0:00Introduction
- 1:25Dynamic obstacles in missions
- 3:10Dynamic forward slicing
- 7:23Transforming DOTS programs
- 10:34Slicing parallel and loops
- 13:07Simulation of replanned missions
- 14:53Runtime state reconstruction
- 15:54Q&A
related talks
19mAirways: Optimization-Based Planning of Quadrotor Trajectories according to High-Level User Goals
57mReal-Time Decision Making in Hybrid Systems
26mComplex Autonomous UAV Task Execution and Decision-Making Using s(CASP)
18mGridDrones: A Self-Levitating Physical Voxel Lattice for Interactive 3D Surface Deformations
16mThird-Person Piloting: Increasing Situational Awareness using a Spatially Coupled Second Drone
48mFlying services with a drone
06mTiny Flying Robots
40mCo-operative robots sharing the load