BPMN Mission Planning for Heterogeneous Unmanned Vehicle Teams
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Solution Overview
Problem
Current mission planning frameworks for unmanned systems lack a user-friendly, domain-agnostic method for designing and executing missions involving multiple heterogeneous robots, as they fail to bridge the gap between planning and execution and do not allow for resource management and flexible allocation during mission execution.
Innovation Solution
The system uses Business Process Model Notation (BPMN) to graphically design missions, translating these descriptions into ROS instructions for execution, allowing non-expert users to plan and control unmanned vehicle teams without requiring programming knowledge or domain awareness of the ROS, and includes a verification module to ensure mission logic correctness.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If traditional mission planning frameworks are used for unmanned systems, then domain expertise and programming knowledge are required for mission design, but this increases the complexity and accessibility barriers for non-expert users
Solution Approach 1:
The patent introduces BPMN (Business Process Model and Notation) as an intermediary language between the user's mission requirements and the ROS (Robot Operating System) execution environment. This intermediary layer allows non-expert users to design missions using standardized business process notation without needing to understand ROS domain specifics, while the translation module automatically converts BPMN diagrams into executable ROS instructions, thus resolving the contradiction between ease of operation and system complexity
Solution Approach 2:
The patent replaces the traditional mechanical approach of directly programming ROS nodes and configurations with a graphical BPMN-based modeling approach. Instead of manually configuring complex ROS systems, users create visual process flow diagrams that are automatically translated into ROS instructions, substituting the mechanical programming process with a more accessible graphical interface and automated translation mechanism
2Adaptability or versatility
If atomic control modalities are used as building blocks for mission design, then resource allocation flexibility is improved, but the ability to visualize and plan complex multi-phase missions is reduced
Solution Approach 1:
The patent merges the strengths of atomic control modality approaches with BPMN graphical modeling capabilities. The system combines the resource allocation flexibility of atomic modalities with the visual planning and sequencing capabilities of BPMN diagrams, allowing users to both visualize complex multi-phase missions and maintain flexible resource allocation through the integrated modeling approach
Solution Approach 2:
The patent creates a universal mission planning framework that serves multiple functions: it provides visual BPMN-based mission design, maintains resource allocation flexibility through atomic modality representation, enables automated translation to ROS instructions, and supports both high-level mission planning and detailed resource management within a single integrated system
3Ease of operation
If BPMN notation is used for mission design, then parallel execution and decision logic visualization are improved, but resource management and failure handling capabilities are reduced
Solution Approach 1:
The translation module serves as an intermediary that enhances BPMN's inherent capabilities by adding resource management and failure handling functionality. It translates BPMN process elements into ROS-specific resource allocation instructions and failure handling mechanisms, thereby extending BPMN's utility beyond pure process visualization to include comprehensive resource management and robustness features
Solution Approach 2:
The system performs preliminary actions by pre-defining resource requirements and failure handling strategies during the BPMN mission design phase. The translation module prepares resource allocation plans and contingency protocols in advance based on the BPMN model, enabling proactive resource management and failure preparedness rather than reactive handling during execution
4Reliability
If needs-based allocation approaches are used, then robustness to varying mission requirements is improved, but the ability to plan and orchestrate missions before execution is reduced
Solution Approach 1:
The patent enables preliminary mission planning and orchestration through BPMN graphical modeling before execution. Users can design complete mission scenarios, define resource requirements, and orchestrate complex multi-phase operations in advance using visual BPMN diagrams, which are then translated into executable plans that maintain robustness to variations through the structured modeling approach
Solution Approach 2:
The system combines static pre-planning capabilities with dynamic adaptability by allowing BPMN mission models to be created and refined in advance while maintaining the flexibility to adjust resource allocation and handle varying requirements during execution. The structured BPMN framework provides both upfront planning discipline and runtime adaptability
Data Source
AI summary
Methods and systems for accomplishing a mission using a plurality of unmanned vehicles can include graphically describing the mission tasks at a graphical user interface (GUI) using Business Process Model Notation (BPMN), and translating the graphical description into extensible machine language (XML) formatted robot operating system (ROS) instructions, which can be understood by each of the plurality of unmanned vehicles with a translator. An execution engine transmits the XML ROS instructions to a respective local controller on the respective unmanned vehicle. The BPMN graphical descriptor symbols can allow for planning of a mission by an end user that does not have expertise in the ROS domain, and that does not have an understanding of the ROS construct. The execution engine can provide feedback back to the GUI regarding mission execution. Based on the feedback, the graphical description can be modified while the mission is being accomplished.