Optimization Architecture of a Modular Architecture for Robotic Control: MARC Control Structure Applied to a VTOL UAV

This paper presents a modular architecture for robotic control (MARC) for unconventional unmanned aerial vehicles (UAV). MARC was developed for a double-ducted vertical take-off and landing (VTOL) vehicle, capable of maneuvering within densely obstructed environments. The focus of this paper is to present the characteristics of the MARC architecture for the use of a twin-duct VTOL as an optimal platform for indoor flight used for surveillance and reconnaissance missions. This paper describes how MARC utilizes dynamic weighting, from potential functions, to impact the influence of multiple independent task and action based control systems. MARC optimizes the influence of multiple control modules to enable complex behaviors based on user defined operational goals. The test vehicle possesses flight characteristics that incorporate optimal control in 6 DOF for rapid "aggressive" maneuvers for navigation. The results showcase the potential for the MARC control system to optimize the performance of mobile robotics, specifically unconventional vehicles.