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:

• Programming new behaviors

Behavior methods

Behavior task	Behavior method	Requires task	Reference
TAKE_OFF	TAKE_OFF_WITH_PID	PID_MOTION_CONTROL
TAKE_OFF	TAKE_OFF_WITH_DF	QUADROTOR_DF_MOTION_CONTROL
LAND	LAND_WITH_PID	PID_MOTION_CONTROL
LAND	LAND_WITH_DF	QUADROTOR_DF_MOTION_CONTROL
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	SELF_LOCALIZE
ESTIMATE_POSITION	ESTIMATE_POSITION_WITH_LINEAR_SPEED	SELF_LOCALIZE
HOVER	KEEP_HOVERING_WITH_PID_CONTROL	PID_MOTION_CONTROL
HOVER	HOVER_WITH_FLIGHT_ACTION_CONTROL	PID_MOTION_CONTROL
MOVE_VERTICAL	MOVE_VERTICAL_WITH_PLATFORM_CONTROL	PID_MOTION_CONTROL
MOVE_AT_SPEED	KEEP_MOVING_WITH_PID_CONTROL	PID_MOTION_CONTROL
MOVE_AT_SPEED	MOVE_AT_SPEED_WITH_PLATFORM_CONTROL	PID_MOTION_CONTROL
ROTATE	ROTATE_WITH_PID_CONTROL	PID_MOTION_CONTROL
ROTATE	ROTATE_WITH_PLATFORM_CONTROL	PID_MOTION_CONTROL
FOLLOW_PATH (version 1)	FOLLOW_PATH	PID_MOTION_CONTROL
FOLLOW_PATH (version 2)	FOLLOW_PATH_WITH_DF	QUADROTOR_DF_MOTION_CONTROL, SEND_PATH
SEND_PATH	SEND_PATH
PID_MOTION_CONTROL	QUADROTOR_PID_MOTION_CONTROL	SELF_LOCALIZE, THRUST_CONTROL	[Pestana et al., 2014]
QUADROTOR_DF_MOTION_CONTROL	QUADROTOR_DF_MOTION_CONTROL
THRUST_CONTROL	QUADROTOR_PID_THRUST_CONTROL	SELF_LOCALIZE
GENERATE_PATH	GENERATE_PATH_WITH_OCCUPANCY_GRID	SELF_LOCALIZE	[Marder-Eppstein et al. 2010] Navigation stack
CLEAR_OCCUPANCY_GRID	CLEAR_OCCUPANCY_GRID	SELF_LOCALIZE
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_POSITION_TO_ROBOTS	INFORM_POSITION_TO_ROBOTS	SELF_LOCALIZE

References

• 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.

• 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.

• 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.

• 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

• 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