AUSPEX:救助任務におけるUAVのための統合されたオープンソースの意思決定枠組み
Björn Döschl1, Kai Sommer1, Jane Jean Kiam1
1Department of Aerospace Engineering, Institute of Flight Systems, University of the Bundeswehr Munich, Neubiberg, Germany.
Frontiers in robotics and AI
|August 28, 2025
まとめ
この研究は,捜索・救助 (SAR) 任務のための無人航空機 (UAV) の意思決定を強化するオープンソースのフレームワークであるAUSPEXを紹介しています. AUSPEXは様々なSAR課題に対応する モジュラーで適応可能なシステムを提供しています.
科学分野:
- ロボットと自律システム
- 人工知能
- 捜索 救助 技術
背景:
- 無人航空機 (UAV) は,危険な地域へのアクセスと費用対効果の高い状況認識により,捜索・救助 (SAR) に不可欠です.
- 現在のUAVシステムは,多様なSAR意思決定の要求に適応できず,しばしばオープンソースではなく,高度なアルゴリズムの統合を制限しています.
研究 の 目的:
- 計画と実行のための自動無人飛行システム (AUSPEX) を導入し,新しいオープンソースのフレームワークを導入します.
- SARミッションにおけるUAVシステムの意思決定能力を強化する.
- 多様なUAVプラットフォームをサポートするモジュラーで適応可能なフレームワークを提供する.
主な方法:
- AUSPEXを総合的でモジュラーでオープンソースのフレームワークとして開発しました.
- 先進的な意思決定アルゴリズムによる統合された知識表現,知覚,計画,実行能力.
- オープンアーキテクチャを通じて,異質なUAVプラットフォームと互換性を確保します.
主要な成果:
- AUSPEXは,オープンソースのコンポーネントのみに依存するスケーラブルで拡張可能なシステムを提供します.
- REAPシミュレーションフレームワーク (ソフトウェア・イン・ザ・ループ) とAUGURグラフィカルユーザーインターフェースとの統合が実証されています.
- 一般的なSARシナリオでAUSPEXを検証し,その適応性と将来の強化の可能性を示しました.
結論:
- AUSPEXはSARミッションにおけるUAVの意思決定を大幅に改善します.
- AUSPEXのオープンソースとモジュールの性質は,透明性,スケーラビリティ,拡張性を促進します.
- AUSPEXは,現在のSARの課題と将来の自律システムの進歩に多岐にわたるソリューションを提供します.
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