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Self-managed Adaptable Software Architecture for UAVs : a Testbed

The paper outlines a three-layer architecture for adaptable software for UAVs. In the bottom level of this architecture, services are provided by components and the set of services is assembled and coordinated by plan or task execution at the next level. These plans are generated from high-level goals. The paper describes how we have instantiated this architecture for a testbed consisting of a set of Koala robots with associated on-board and external sensors. The robots are given goals which they co-operate to achieve in the presence of uncertainties such as failures and unexpected obstacles. Software is dynamically updated and reconfigured in response to environmental changes as the robots attempt to achieve the overall goal.