Asynchronous Behavior Trees with Memory aimed at Aerial Vehicles with Redundancy in Flight Controller

  title={Asynchronous Behavior Trees with Memory aimed at Aerial Vehicles with Redundancy in Flight Controller},
  author={Evgenii Safronov and Michael Vilzmann and Dzmitry Tsetserukou and Konstantin Kondak},
  journal={2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
Complex aircraft systems are becoming a target for automation. For successful operation, they require both efficient and readable mission execution system (MES). Flight control computer (FCC) units, as well as all important subsystems, are often duplicated. Discrete nature of MES does not allow small differences in data flow among redundant FCCs which are acceptable for continuous control algorithms. Therefore, mission state consistency has to be specifically maintained. We present a novel MES… 
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