1. Mission Control for Autonomous System (Drone (Surface or aerial vehicle))

2. Project Objective
Develop Mission control architecture for Autonomous System (AS)
Designing the mission controller
It guides the AS to execute certain set of tasks
Deploying the code on the autonomous system
Executing the code on the AS

3. Autonomous Control Architecture
MC command
MC response
Mission Control (MC)
(discrete)
VC command
(discrete)
VC response
(discrete)
MC-VC Interface
VC command
(continuous)
VC response
(continuous)
Vehicle Control (VC)
(continuous)
actuation
sensing
Autonomous System
VC implements set of vehicle maneuvers (atomic skills)
Maneuvers aggregated into behaviors and behaviors into operations, where as mission broken into operations

4. Hierarchical AS Control Architecture
Hierarchically decompose AUV missions into a set of operations
Operations are decomposed into a set of behaviors
Behaviors comprised of vehicle maneuvers

5. Mission specs
Waypoint (Timed: False, SteerToPoint), Deliver (Timed: True, ReturnToStart: True)

6. Waypoint operation
Waypointnavigator
Sequence Coordinator
Steering

7. Implementation
Matlab, Simulink, stateflow or C++/Python with Robot operating systems (ROS)
Deploy on the AS hardware
Demonstrate the AS executing autonomous behavior