Assured Mission Adaptation of UAVs

The design of systems that can change their behaviour to account for scenarios were not foreseen at time remains an open challenge. In this article, we propose approach adaptation mobile robot missions is constrained a predefined set mission evolutions. We implement adaptive software architecture and show how controller synthesis be used both guarantee correct transitioning from the old new goals with runtime architectural reconfiguration include actuators sensors if necessary. brings together concepts are commonplace in robotics such as temporal planning, discrete, hybrid continuous control layers models synthesis. validate flying several taken robotic literature different real simulated UAVs.